Lighter-than-air systems, methods, and kits for obtaining aerial images

ABSTRACT

Lighter-than-air systems, methods, and kits for obtaining aerial images are described. For example, various methods for determining planned ascent, drift, and/or descent of a lighter-than-air system are described. In addition, various structural arrangements of lighter-than-air systems for accomplishing planned ascent, drift, and/or descent and obtaining aerial images are described.

PRIORITY/CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of co-pending U.S. Nonprovisionalapplication Ser. No. 13/942,964, filed Jul. 16, 2013, which is acontinuation of U.S. Nonprovisional application Ser. No. 13/717,881, nowU.S. Pat. No. 8,505,847, which was filed on Dec. 18, 2012, which is acontinuation-in-part of U.S. Nonprovisional application Ser. No.13/405,562, filed on Feb. 27, 2012, and which claims the benefit of U.S.Provisional Application No. 61/448,145 filed on Mar. 1, 2011, and U.S.Provisional Application No. 61/566,776 filed on Dec. 5, 2011. Thedisclosure of each of these applications is hereby incorporated byreference into this disclosure in its entirety.

TECHNICAL FIELD

The invention relates generally to lighter-than-air systems, methods,and kits. More particularly, the invention relates to lighter-than-airsystems, methods, and kits for obtaining one or more aerial images.

BACKGROUND

Satellites and heavier-than-air aircraft, both manned and unmanned, havebeen used for many years to perform tasks associated with gatheringaerial images. However, these techniques generally obtain the imagesfrom relatively high altitudes, which presents several disadvantagessuch as precluding optimal look angles for the imaging device andintroducing the potential for cloud cover to occlude the imaging device.In addition, these techniques generally include on-board continuouspropulsion and steering systems, which increase the weight of theoverall system, and increase the costs in obtaining the images.Furthermore, the continuous propulsion and steering systems tend tointerfere with the quality of the images collected.

In addition to satellites and heavier-than-air aircraft,lighter-than-air aircraft (e.g., balloons, airships, dirigibles) havebeen used to obtain aerial images. However, these devices havedisadvantages associated with the use of on-board propulsion systems asthe sole means of lateral movement and being able to maintain aparticular altitude during flight to obtain images at a desired lookangle.

Therefore, there is a need for lighter-than-air systems, methods, andkits for gathering aerial images.

SUMMARY OF THE DISCLOSURE

Various lighter-than-air systems for obtaining aerial images aredescribed herein. For example, various structural arrangements oflighter-than-air systems having one or more balloons defining one ormore chambers adapted to contain a volume of fluid are described herein.In addition, various structural arrangements of an instrument casecontaining one or more sensing devices, location devices, computingdevices, communication devices, storage devices, and/or energy storagedevices are described herein. Furthermore, various structuralarrangements of a thruster are described herein.

A first exemplary lighter-than-air system comprises an airship and athruster. The airship comprises a first balloon and a second balloon.The first balloon is movable between a deflated configuration and aninflated configuration and comprises a wall defining a first balloonchamber. The second balloon is disposed within the first balloonchamber. The second balloon is movable between a deflated configurationand an inflated configuration and comprises a wall defining a secondballoon chamber. The thruster is attached to the airship and comprises athruster body and a container. The thruster body defines a cavity, afirst passageway, and a second passageway. The container is attached tothe thruster body and comprises a wall that defines a container chamber.The cavity is in communication with the first balloon chamber. The firstpassageway is in communication with the second balloon chamber. Thesecond passageway is in communication with the container chamber.

A second exemplary lighter-than-air system comprises an airship and athruster. The airship comprises a first balloon and a second balloon.The first balloon is movable between a deflated configuration and aninflated configuration and comprises a wall defining a first balloonchamber. The second balloon is disposed within the first balloonchamber. The second balloon is movable between a deflated configurationand an inflated configuration and comprises a wall defining a secondballoon chamber. The thruster is attached to the airship and comprises athruster body, a container, and a first valve. The thruster body definesa cavity, a first passageway, and a second passageway. The container isattached to the thruster body and comprises a wall that defines acontainer chamber. The cavity is in communication with the first balloonchamber. The first passageway is in communication with the secondballoon chamber. The second passageway is in communication with thecontainer chamber. The first valve is in communication with the firstpassageway and is configured to have a first configuration and a secondconfiguration. In the first configuration, the first valve holds fluidwithin the second balloon chamber. In the second configuration, thefirst valve releases fluid held within the second balloon chamber.

A third exemplary lighter-than-air system comprises an airship and athruster. The airship comprises a first balloon and a second balloon.The first balloon is movable between a deflated configuration and aninflated configuration and comprises a wall defining a first balloonchamber. The second balloon is disposed within the first balloonchamber. The second balloon is movable between a deflated configurationand an inflated configuration and comprises a wall defining a secondballoon chamber. The thruster is attached to the airship and comprises athruster body, a container, a first valve, and a second valve. Thethruster body defines a cavity, a first passageway, and a secondpassageway. The container is attached to the thruster body and comprisesa wall that defines a container chamber. The cavity is in communicationwith the first balloon chamber. The first passageway is in communicationwith the second balloon chamber. The second passageway is incommunication with the container chamber. The first valve is incommunication with the first passageway and is configured to have afirst configuration and a second configuration. In the firstconfiguration, the first valve holds fluid within the second balloonchamber. In the second configuration, the first valve releases fluidheld within the second balloon chamber. The second valve is incommunication with the second passageway and is configured to have afirst configuration and a second configuration. In the firstconfiguration, the second valve holds fluid within the containerchamber. In the second configuration, the second valve releases fluidheld within the container chamber.

Additionally, various methods for obtaining aerial images using one ormore lighter-than-air systems are described herein. For example, variousmethods for preparing one or more lighter-than-air systems and at leastdetermining a launch site, and/or determining a landing site aredescribed herein.

Kits useful in obtaining one or more aerial images are also described.

Additional understanding of the systems, methods, and kits contemplatedand/or claimed by the inventors can be gained by reviewing the detaileddescription of exemplary systems, methods, and kits presented below, andthe referenced drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary lighter-than-air system.

FIG. 2 is a sectional view of the lighter-than-air system illustrated inFIG. 1.

FIG. 3 is a sectional view of an exemplary instrument case.

FIG. 4 is a perspective view of an exemplary valve.

FIG. 5 is a perspective view of another exemplary valve.

FIG. 6 is a flow chart representation of an exemplary method ofobtaining one or more aerial images using a lighter-than-air system.

FIG. 7 is a block diagram of an exemplary computer system.

FIG. 8 is a flow chart representation of another exemplary method ofobtaining one or more aerial images using a lighter-than-air system.

FIG. 9 is a perspective view of an exemplary thruster.

FIG. 10 is a side view of another exemplary lighter-than-air system.

FIG. 11 is a magnified view of area 11 indicated in FIG. 10.

FIG. 12 is a side view of another exemplary lighter-than-air system.

FIG. 13 is a cross sectional view of another exemplary lighter-than-airsystem.

FIG. 14 is a magnified view of area 14 indicated in FIG. 13.

FIG. 15 is a partial cross sectional view of another exemplary thruster.

FIG. 16 is a perspective view of another exemplary lighter-than-airsystem.

FIG. 17 is an exploded view of the exemplary lighter-than-air systemillustrated in FIG. 16.

FIG. 18 is a magnified partial cross sectional view of thelighter-than-air system illustrated in FIG. 16.

FIG. 19 is a magnified partial cross sectional view of thelighter-than-air system illustrated in FIG. 16, omitting the inclusionof a second balloon.

FIG. 20 is a perspective view of the thruster illustrated in FIG. 16,free of the lighter-than-air system.

FIG. 21 is a sectional view of the thruster illustrated in FIG. 20,taken along line 21-21.

FIG. 22 is a sectional view of the thruster illustrated in FIG. 20,taken along line 22-22.

FIG. 23 is a perspective view of the airfoil module illustrated in FIG.16 free of the lighter-than-air system.

FIG. 24 is a perspective view of the thrust module illustrated in FIG.16 free of the lighter-than-air system.

FIG. 25 is a cross sectional view of the instrument case illustrated inFIG. 16 free of the lighter-than-air system.

FIG. 26 is a perspective view of another exemplary lighter-than-airsystem.

FIG. 27 is a perspective view of another exemplary lighter-than-airsystem.

FIG. 28 is a flow chart representation of another exemplary method ofobtaining one or more aerial images using a lighter-than-air system.

DETAILED DESCRIPTION

The following description and the referenced drawings provideillustrative examples of that which the inventors regard as theirinvention. As such, the embodiments discussed herein are merelyexemplary in nature and are not intended to limit the scope of theinvention, or its protection, in any manner. Rather, the description andillustration of these embodiments serve to enable a person of ordinaryskill in the relevant art to practice the invention.

The use of “e.g.,” “etc.,” “for instance,” “in example,” and “or” andgrammatically related terms indicates non-exclusive alternatives withoutlimitation, unless otherwise noted. The use of “including” andgrammatically related terms means “including, but not limited to,”unless otherwise noted. The use of the articles “a,” “an,” and “the” aremeant to be interpreted as referring to the singular as well as theplural, unless the context clearly dictates otherwise. The use of“exemplary” means an example of and is not intended to convey a meaningof an ideal or preferred embodiment. The use of “fluid” refers to anylighter-than-air fluid, and/or gas, including, but not limited to,helium, or hydrogen, unless the context clearly dictates otherwise. Theuse of “lighter-than-air aircraft” refers to an aircraft at leastpartially, or entirely, supported by lighter-than-air fluids, unless thecontext clearly dictates otherwise. The use of “lighter-than-air system”refers to an aircraft that can be at least partially, or entirely,supported by one or more lighter-than-air fluids and that can includeone or more devices that can be used individually or in combination withother devices to obtain one or more images, unless the context clearlydictates otherwise. The use of “attached” refers to the fixed,releasable, or integrated association of two or more elements and/ordevices, unless the context clearly dictates otherwise. Thus, the term“attached” includes releasably attaching or fixedly attaching two ormore elements. The use of “aerial images” and “images” refers to imagesobtained at any altitude and includes a singular image or multipleimages, unless the context clearly dictates otherwise. The use of“ground control software” means any configuration and/or structuralarrangement of one or more devices and/or components used to remotelycontrol, receive information, send information, and/or communicate witha lighter-than-air system and/or aircraft, unless the context clearlydictates otherwise. The use of “balloon” refers to any material that iscapable of forming a chamber and moving between a first deflatedconfiguration and a second inflated configuration. The use of “tubular”refers to any structure that defines a passageway and is not intended torequire any structural arrangement or dimension, unless the contextclearly dictates otherwise.

FIGS. 1 and 2 illustrate an exemplary lighter-than-air system 100 forobtaining one or more aerial images (e.g., aerial photography system).The system 100 comprises an airship 102 and an instrument case 200attached to the airship 102. The airship 102 comprises a first end 103,a second end 104, a balloon 105, and one or more fins 106. The balloon105 comprises a wall 107 defining a reserve chamber 120, cruise chamber140, and a spill chamber 160. Each of the reserve chamber 120, cruisechamber 140, and spill chamber 160 is an independent chamber, separatefrom, and not in fluid communication, with the other chambers. The oneor more fins 106 can be formed from the wall 107 of the balloon 105, orbe separate elements attached to the wall 107 of the balloon 105. Theone or more fins 106 are illustrated as attached to the second end 104of the balloon 105, however, the fins 106 may be positioned at anysuitable location on the of the wall 107, and skilled artisans willselect an appropriate position for the one or more fins based on variousconsiderations, such as the desired stability of the system 100 duringflight.

The balloon 105 is formed of a transparent fabric (e.g., polyester films(e.g., biaxially-oriented polyethylene terephthalate (Mylar®), latex),synthetic fabrics, non-metallic materials, lightweight materials). Theballoon 105 illustrated in FIGS. 1 and 2 is shown in an inflatedconfiguration. While the balloon 105 has been described as formed of aparticular material, other materials having any suitable degree oftransparency, translucency, or opaqueness, or any suitable degree offlexibility, are considered suitable, and skilled artisans will be ableto select a suitable material for a particular embodiment based onvarious considerations, including the desired visibility of the systemwhile in flight, and/or the desired flexibility of the balloon.

In addition, while the wall 107 of the balloon 105 is described asdefining the reserve chamber 120, cruise chamber 140, and spill chamber160, one or more of the chambers can alternatively be formed from one ormore separate identical, substantially identical, or different, balloonsattached to one another, and/or a frame, in various configurations anddefining each of the reserve chamber, cruise chamber, and/or spillchamber. Thus, one or more balloons having a wall defining a chamber candefine, or be combined (e.g., summed), to define one or more of thereserve chamber, cruise chamber, and/or spill chamber. In a furtheralternative, one or more of the chambers can alternatively be formedfrom multiple separate chambers and/or balloons. Example methods ofattachment considered suitable between one or more balloons forming thereserve chamber, cruise chamber, and/or spill chamber, or a frame,include, but are not limited to, using one or more hook-and-loopfasteners (e.g., Velcro®), mechanical fasteners, straps, wire, string,adhesive, sonic welds, and any other suitable form of attachment.Example inflated balloon diameters considered suitable for inclusion inany system described herein, include, but are not limited to, diametersin the range from about 1 foot (0.3048 meters) to about 5 feet (1.524meters). Other examples of inflated balloon diameters consideredsuitable for inclusion in any system described herein, include, but arenot limited to, diameters in the range from about 1 foot (0.3048 meters)to about 10 feet (3.048 meters). Further examples of inflated balloondiameters considered suitable for inclusion in any system describedherein, include, but are not limited to, diameters in the range fromabout 2 feet (0.6096 meters) to about 7 feet (2.1336 meters). While aparticular range has been described, other inflated balloon diametersand/or ranges are considered suitable, and skilled artisans will be ableto select a suitable inflated diameter and/or range based on variousconsiderations, such as the desired cruising altitude of a system.Example balloons considered suitable include, but are not limited to,off the shelf balloons, and custom balloons.

The reserve chamber 120 is movable between a deflated configuration andan inflated configuration. The reserve chamber 120 comprises a wall 122and a bi-directional valve 124 disposed in the wall 122. Thebi-directional valve 124 is adapted to introduce fluid into, hold fluidwithin, and remove fluid from the reserve chamber 120. The reservechamber 120 is configured to receive and contain a volume of fluidsufficient to offset about 50% to 90% of the weight of the system 100.Stated otherwise, the reserve chamber 120 is configured to receive andcontain a volume of fluid sufficient to provide about 50% to 90% of theneutral buoyancy of the system 100. Example volumes of fluid consideredsuitable include volumes of fluid that offset about 70% of the weight ofthe system 100. Further example volumes of fluid considered suitableinclude volumes of fluid that offset about 1% to about 100% of theweight of the system 100.

In the illustrated embodiment, the fluid is contained within the reservechamber 120 throughout the flight of the system and at leastadvantageously allows for the system 100 to slowly descend when thecruise chamber 140 and the spill chamber 160 have been moved from aninflated configuration to a deflated configuration and have released aportion, or the entirety, of the volume of fluid contained within thecruise chamber 140 and spill chamber 160. The reserve chamber 120 canoptionally include a one-way flow valve disposed in the wall 122 of thereserve chamber 120 that is adapted to release the fluid containedwithin the reserve chamber 120, or a portion thereof, upon receipt of asignal, as described below.

The cruise chamber 140 is movable between a deflated configuration andan inflated configuration. The cruise chamber 140 comprises a wall 142,bi-directional valve 144, and a one-way flow valve 146. Thebi-directional valve 144 is disposed in the wall 142 of the cruisechamber 140 and is adapted to introduce fluid into, hold fluid within,and remove fluid from the cruise chamber 140. The one-way flow valve 146is disposed in the wall 142 of the cruise chamber 140 and is adapted torelease the fluid contained within the cruise chamber 140, or a portionthereof, upon receipt of a signal, as described below. The cruisechamber 140 is configured to receive and contain a volume of fluidsufficient to offset about 100% of the weight of the system 100 whentaking into account the volume of fluid disposed within the reservechamber 120 (e.g., buoyancy provided by the volume of fluid contained inthe reserve chamber 120). Stated otherwise, the cruise chamber 140 isconfigured to receive and contain a volume of fluid sufficient toprovide about 100% neutral buoyancy of the system 100 when the volume offluid within the cruise chamber 140 is summed with the volume of fluiddisposed within the reserve chamber 120. Example volumes of fluidconsidered suitable include volumes of fluid that offset about 10% to50% of the weight of the system. Further example volumes of fluidconsidered suitable include volumes of fluid that offset about 30% ofthe weight of the system 100. Even further example volumes of fluidconsidered suitable include volumes of fluid that offset about 1% toabout 100% of the weight of the system 100.

The spill chamber 160 is movable between a deflated configuration and aninflated configuration. The spill chamber 160 comprises a wall 162,bi-directional valve 164, one-way valve 166, one or more apertures 168,and one or more plugs 170. The bi-directional valve 164 is disposed inthe wall 162 of the spill chamber 160 and is adapted to introduce fluidinto, hold fluid within, and remove fluid from the spill chamber 160.The one-way valve 166 is disposed in the wall 162 of the spill chamber160 is adapted to release the fluid, or a portion thereof, containedwithin the cruise chamber 160 upon receipt of a signal, as describedbelow. The wall 162 of the spill chamber 160 defines the one or moreapertures 168 which extend through the wall 162 of the spill chamber 160and allow fluid to pass through the wall 162 of the spill chamber 160.Alternative to including both the one-way valve 166 and the one or moreapertures 168, the wall 162 of the spill chamber 160 can include eithera one-way valve 166 or one or more apertures 168 and one or more plugs170.

Each of the one or more plugs 170 comprises a length and diameterconfigured to engage with one of the one or more apertures. Each of theone or more plugs 170 is adapted to be received by the wall 162 of thespill chamber 160 and within an aperture 168 to provide a sealingengagement between the plug 170 and aperture 168 to prevent fluid frompassing through the aperture 168. Optionally, each of the one or moreplugs 170 can be attached to the wall 162 of the spill chamber 160 toprevent loss (e.g., through the use of a lanyard). Each of the one ormore plugs 170 has a first configuration and a second configuration. Inthe first configuration, each of the one or more plugs 170 is disposedwithin an aperture 168, thereby preventing fluid from being releasedfrom the spill chamber 160. In the second configuration, one or more ofthe plugs 170 is free from the aperture 168, thereby allowing fluid tobe released from the spill chamber 160. Each of the one or more plugs170 is movable from the first configuration to the second configuration,and vice versa, by a user inserting a portion, or the entirety, of oneof the one or more plugs 170 into one of the one or more apertures 168,or removing one of the one or more plugs 170 from one of the one or moreapertures 168. The number of plugs 170 considered suitable to move fromthe first configuration to the second configuration can vary accordingto the planned ascent, cruising altitude, and/or descent of the system100, as described in more detail below.

The spill chamber 160 is configured to receive and contain a volume offluid sufficient to provide positive buoyancy to the system 100, and toallow for a timed ascent of the system 100 by releasing of a portion ofthe fluid contained within the spill chamber 160 throughout the ascentof the system 100 via one or more of the one or more apertures 168, thebi-directional valve 164, and/or the one-way valve 166. The gradualrelease of the fluid contained within the spill chamber 160 eventuallybrings the system 100 to a cruising altitude (e.g., when the spillchamber has released all of the fluid contained therein), whereinneutral buoyancy is achieved, or substantially achieved.

The spill chamber 160 can have multiple structural arrangements toaccomplish planned drift and/or a cruising altitude. In one exemplarystructural arrangement, the number and/or diameter of the one or moreapertures 168 defined by the wall 162 of the spill chamber 160 can vary,and thus, various spill rates can be achieved by calculating the numberand diameter of apertures 168 required for a particular ascent rate anddesired altitude. For example, at least two of the one or more apertures168 and at least two of the one or more plugs 170 can vary in diameter.Skilled artisans will be able to select an appropriate number ofapertures 168, and diameters thereof, according to a particularembodiment based on various considerations, such as the desired ascentvelocity of the system 100. Examples of suitable numbers of apertures168 include one, two, three, four, five, six, seven and any other numberconsidered suitable for a particular application. Alternative toproviding one or more apertures 168, bi-directional valve 164 and/or theone-way valve 166 can be adapted to release a portion, or the entirety,of the volume of fluid contained within the spill chamber 160 duringascent, upon receipt of a signal, as described below.

The spill chamber 160 can be configured to contain a volume of fluidthat offsets about 30% of the weight of the system 100, therebyproviding a lift force to the system 100 when the volumes of fluidcontained in the reserve chamber 120, cruise chamber 140, and spillchamber 160 are used in combination. Other example volumes of fluidconsidered suitable include volumes of fluid that offset about 1% toabout 100% of the original weight of the system 100. Another examplevolume of fluid considered suitable includes a volume of fluid thatoffsets about 10% of the original weight of the system.

The configurations of each of the reserve chamber 120, cruise chamber140, and spill chamber 160 can vary, and skilled artisans will be ableto select an appropriate configuration based on various considerations(e.g., the desired drag of the system). For example, the reserve chamber120 and the cruise chamber 140 can be disposed adjacent one another, andthe spill chamber 160 can be disposed on an exterior portion of the wall142 of the cruise chamber 140, as illustrated in FIGS. 1 and 2. It isconsidered advantageous to configure chambers 120, 140, and 160aerodynamically, such as by adapting the outer wall of the one or moreballoons in the inflated configuration to capture wind and the pullassociated with low pressure to generate thrust and cause the system totravel in a planned direction. This advantageously reduces the need forthe interaction of a propulsion system. For example, the system 100 canoptionally include one or more straps (not illustrated) positioned alongthe cruise chamber 140 and/or spill chamber 160 adapted to configure thecruise chamber 140 and/or spill chamber 160 as a parachutes and/or asail when in the deflated configuration to assist with the descent ofthe system 100.

The system 100 can optionally include a retrieval connector 108 formedof a rigid, or semi-rigid, material disposed on any portion of the wall107 of the balloon 105. The retrieval connector 108 can be configured toreceive a length of retrieval line (e.g., tether) in instances where thesystem is tethered to a ground retrieval device. Alternatively, theretrieval connector 108 can be formed in the wall 107 of the balloon105. In a further alternative, a tether can be attached to any suitableportion of the instrument case 200, or other portions of the system 100.

Each of the bi-directional valves 124, 144, and 164 described above cancomprise any suitable valve that is configured to have a firstconfiguration where fluid can be introduced into the one or morechambers, a second configuration where the bi-directional valve holdsfluid within the one or more chambers, and a third configuration wherethe bi-directional valve allows for fluid to be removed from the one ormore chambers (e.g., 120, 140, 160). These configurations can beutilized separately, or in combination with one another, and can beselected and activated upon receipt of a signal from a user, groundcontrol software, and/or on-board software, as described in more detailherein. Example valves considered suitable include French valves (e.g.,Presta® valves), automotive-style air valves (e.g., Schrader® valves),and/or Dunlop valves (e.g., Woods valves). Alternatively, thebi-directional valves can comprise one-way valves that are configured tointroduce fluid into one or more of the chambers, and retain the fluidwithin the one or more chambers.

Each of the one-way valves (e.g., 146, 166, optional one-way valve inwall 122 of reserve chamber 120) described above can comprise anysuitable valve that is configured to have a first configuration wherethe one-way valve holds fluid within the respective chamber, and asecond configuration where the one-way valve releases the entirety, or aportion, of the fluid contained within the respective chamber uponreceipt of a signal from a user, ground control software, and/oron-board software, as described in more detail herein. For example, theone-way valves can comprise any valve that can be remotely actuated,including miniature electrically-controlled actuation mechanisms. Inanother example, the one-way valves comprise a spring-loaded lid and/orelectrified magnetic rim, which, upon switched demagnetization, orbattery depletion, or other signal, opens and releases the entirety, ora portion, of the fluid contained within the chamber. Alternative toincluding a one-way valve, the bi-directional valve described above(e.g., 124, 144, 164) can include a means of releasing the fluidcontained within the chamber, such as those described above, orotherwise.

In embodiments that include one or more balloons forming the reservechamber, cruise chamber, and/or spill chamber, each of the wallsdefining the reserve chamber, cruise chamber, and/or spill chamber cancomprise one or more bi-directional valves, one-way valves, apertures,and/or plugs as described herein. Each of the bi-directional valves,one-way valves, apertures, and/or plugs provide a mechanism forintroducing, retaining, and/or releasing fluid contained within theballoon and/or a mechanism to provide thrust to the system. For example,the bi-directional valves and/or one-way valves can be positioned alongany portion of the one or more balloons and at any angle to allow formaneuverability, stabilization, ascent, and/or descent of the system.

FIG. 3 illustrates a sectional view of an exemplary instrument case 200and a block diagram of the devices stored therein. The instrument case200 comprises a housing 202 that houses a circuit board 210, one or moreobservation devices 220, one or more sensing devices 230, one or morelocation devices 240, one or more computational devices 250, one or morecommunication devices 260, one or more storage devices 270, and/or oneor more energy storage devices 280. The instrument case 200 is attachedto the balloon 105 by any suitable means of connection 201 (e.g.,fishing line, steel wire, nylon rope). It is considered advantageous toattach the instrument case at, or near, the first end 103 of the balloon105 to provide aerodynamic distribution of weight. Alternatively, theinstrument case 200 can be attached directly to the balloon 105 toprevent oscillation of the devices contained within the instrument case200 (e.g., observation devices 220) during flight.

The housing 202 comprises one or more downward facing windows 204allowing for the one or more observation devices 220 and/or one or moresensing devices 230 to be directed towards a point of interest duringflight. The housing 202 can be formed of any suitable material, and thehousing 202 can comprise any suitable geometric shape for housing thedevices stored therein. For example, the housing 202 can be formed ofclosed-cell extruded polystyrene foam (e.g., Styrofoam®) to protect thedevices stored within the housing 202. It is considered advantageous toform the housing 202 of a floatable material to provide buoyancy to thesystem 100 (e.g., should the system land in water).

It is considered advantageous to form the instrument case 200 of aminiaturized housing 202 that houses one or more miniaturized devices(e.g., circuit board 210, observation devices 220, sensing devices 230,location devices 240, computational devices 250, communication devices260, storage devices 270, energy storage devices 280) within the housing202 to at least reduce the weight and size of the instrument case 200.By including miniaturized devices in the instrument case 200, the system100 can advantageously be launched and/or landed in locations that donot require a launching and/or landing platform (e.g., airstrip,helipad).

In addition, it is considered advantageous to provide a housing 202 thatallows for a user to access the devices housed therein for repair, orreplacement. For example, the housing 202 can have one or more portionsthat are hingedly connected to one another (e.g., top and bottomportion), attached to one another using one or more threaded components(e.g., screws), and/or snap fit to one another (e.g., top and bottomportions).

The circuit board 210 comprises any suitable mechanism for mechanicallyand/or electronically connecting one or more of the one or moreobservation devices 220, sensing devices 230, location devices 240,computational devices 250, communication devices 260, storage devices270, and/or energy storage devices 280 to one another to provide signalcommunication between the one or more devices connected the circuitboard 210, a user, on-board software, and/or ground control software.For example, the one or more observation devices 220, sensing devices230, location devices 240, computational devices 250, communicationdevices 260, storage devices 270, and/or energy storage devices 280 canreside on, or be connected to, a printed circuit assembly. In anotherexample where the balloon 105 is tethered to a ground retrieval device,the system 100 can optionally include a wired connection between the oneor more devices housed within the instrument case 200 (e.g., circuitboard 210) and a computer comprising a ground control software program,as described below.

The one or more observation devices 220 comprise any device capable ofcapturing one or more images. Example devices considered suitableinclude, but are not limited to, one or more video cameras, sensors,optical lenses, ultra-violet lenses, infrared lenses, still photographcamera (e.g., digital, film), radar, and/or fixed angled lenses used toobtain aerial images of one or more points of interest (e.g.ground-based, air-based). The observation devices 220 can be configuredat various angles and locations on the housing 202 of the instrumentcase 200 to obtain multiple angle aerial images of one or more points ofinterest. For example, the observation devices 220 can utilize, and/orextend through, or within a portion of, the downward facing windows 204of the housing 202 to obtain one or more aerial images of one or morepoints of interest. The observation devices 220 can be configured toobtain real-time, low-resolution aerial images, and communicate the dataassociated with the images to the one or more on-board storage devices270, a user, and/or ground control software using the one or morecommunication devices as described below. Alternatively, or incombination with obtaining real time, lower resolution aerial images,the one or more observation devices 220 can be configured to obtainhigh-resolution aerial images, and communicate the data associated withthe images to the one or more on-board storage devices 270, a user,and/or ground control software using the one or more communicationdevices as described below. For example, observation devices 220 cancomprise image sensors and/or processors (e.g., CMOS, CCD) attached toan array of fixed angled lenses that can obtain images through thedownward facing windows 204 of the housing 202.

The one or more sensing devices 230 comprise any device capable ofdetecting information. Example devices considered suitable include, butare not limited to, devices that detect the altitude of the system 100,the wind speed within which the system 100 is operating, velocity/speedof the system 100 (e.g., accelerometer), slope of the system 100 (e.g.,inclinometer), image data, radiation (e.g., Geiger counter), airquality, weather conditions, atmospheric pressure conditions, and/or anyother information relating to the position, speed, location,directionality, altitude, and/or the directionality of the one or moreobservation devices and/or the system 100. Image data can include, butis not limited to, triaxial lens inclination (e.g., using triaxial anglesensors), declination, the time at which an image was obtained, the dateon which an image was obtained, and/or angular measurements. Thisinformation can be communicated to the one or more on-board storagedevices 270, a user, and/or ground control software.

The one or more location devices 240 comprise any suitable devicecapable of detecting information relating to the position of the system100. The one or more location devices 240 communicate this informationto on-board software, ground control software, one or more deviceswithin housing 202 (e.g., on-board storage devices 270), and/or a user.Exemplary location devices 240 comprise one or more global positioning(GPS) modules, and/or altimeters (e.g., barometric altimeter) the one.The information obtained by the one or more location devices 240 can beobtained at one or more points in time, or continuous monitoring of theposition of the system 100 can be accomplished.

The one or more computation devices 250 comprise any device capable ofexecuting a sequence of instructions contained in the one or moreon-board storage devices 270 and/or communicated to the one or morecomputation devices 250 via a user, and/or ground control software.Exemplary computation devices comprise at least one processor configuredto execute the sequence of instructions contained in the on-boardstorage devices 270 and/or communicated to the processor via a user,and/or ground control software. Another exemplary computation deviceincludes any combination of the devices, components, and/or featuresdescribed with respect to computer system 502 as illustrated in FIG. 7.

On-board control software, such as software similar to, identical to, orconfigured to be compatible with, the ground control software, can beutilized by one or more of the devices housed within the instrument case200 to provide planned ascent, drift, descent, images, autonomousflight, and/or other data as described herein. For example, plannedascent, drift, descent, images, autonomous flight, and/or other data canbe obtained, accomplished by, and/or forwarded to a user, on-boardsoftware, storage device 270, and/or ground control software byexecuting one or more sequences of instructions, as described herein,stored within one or more of the on-board storage devices 270, providedby a user, and/or ground control software.

The one or more communication devices 260 comprise any device capable ofconveying information to and from the circuit board 210, one or more ofthe devices attached thereto, a user, ground control software, on-boardsoftware, and/or other lighter-than-air systems. The one or morecommunications devices 260 convey information to and from the circuitboard 210, one or more of the devices attached thereto, devices housedwithin the instrument case 200, a user, ground control software,on-board software, and/or other lighter-than-air systems via wireless(e.g., remote signal, bluetooth), and/or wired link to a user, groundcontrol software, a network (e.g., the Internet, cell phone network),on-board software, and/or other lighter-than-air systems. For example,the one or more communications devices 260 can be configured to utilizepoint-to-multipoint (PTMP) communication, wireless mesh network (WMN), acombination of the two, satellite networks, and/or cell phone networks.In another example, the one or more communication devices 260 cancomprise one or more transmitters, receivers, transceivers, and/or oneor more of the other communication devices described herein. In afurther example, the one or more communication devices 260 can utilizeany suitable push/pull methodology to push information to a server,which in turn will prepare and push the information (e.g., one or moreimages) to another device (e.g., ground control software, iPad®,cellular phone, iPhone®, notebook), and to pull commands from a queue ofone or more commands for operations that need to be performed by one ormore devices in the instruments case, or attached thereto (e.g., startcollection of images, stop collection of images, send a high resolutionimage, send a low resolution image). Example information communicated toand from the one or more communications devices 260 include, but is notlimited to, any information, signals, and/or data described herein, oneor more images, data and/or time at which each of the one or more imageswas obtained, instructions to retrieve and/or send low-resolution and/orhigh-resolution images, instructions to open and/or close one or moreone-way valves, instructions to open and/or close one or morebi-directional valves, instructions to activate a thrust componentand/or associated servo, location data, and/or time data. It isconsidered advantageous to include a first communication device and asecond communication device to provide a mechanism for communicatingwith the system should one of the communication devices becomeinoperable or fails to communicate with a user, ground control software,and/or on-board software for an interval of time. Optionally, one ormore of the devices housed within instrument case 200, or attachedthereto, can provide a wireless network and/or act as a wireless networkrelay to one or more receivers adapted to communicate with the system.

The one or more storage devices 270 comprise any device capable ofstoring one or more forms of data obtained by, and/or communicated to,the one or more devices housed within the instrument case 200. Exemplarystorage devices 270 comprise any form of memory considered suitable forinclusion in the system 100, such as one or more of the computerreadable medium and/or storage devices described herein. For example,random access memory (RAM) or other dynamic storage devices (e.g.,dynamic RAM (DRAM), static RAM (SRAM), synchronous DRAM (SDRAM), flashRAM) for storing information and instructions. In addition, read onlymemory (ROM) or other static storage devices (e.g., programmable ROM(PROM), erasable PROM (EPROM), and electrically erasable PROM (EEPROM))for storing information and instructions. Furthermore, storage devices(e.g., hard drive, floppy drive, magnetic disk, flash disk, opticaldisk) are also considered suitable.

The one or more energy storage devices 280 comprise any device capableof storing energy and providing energy to the one or more devices housedwithin the instrument case 200 and/or the devices attached thereto. Anexemplary energy storage device 280 can comprise any suitable powersource used individually or as an interconnected group (e.g., single usebatteries, rechargeable batteries, batteries, ultracapacitors). Oneexemplary energy storage device is a pack of lightweight lithiumbatteries.

Communication between the one or more devices housed within theinstrument case 200, and/or the devices attached thereto, can beaccomplished using any suitable method including, but not limited to,one or more coaxial cables, copper wires, wires, conductors, fiberoptics, bus configurations, acoustic waves, wirelessly, and/or lightwaves.

For example, the housing 202 can comprise a first main energy storagedevice and a second reserve energy storage device. The first main energystorage device is in communication with the one or more devices housedwithin the instrument case 200, or the devices attached thereto, and/orattached to a portion of the airship 102, such as the one-way valves(e.g., 146, 166, optional one-way valve in wall 162 of reserve chamber160), and/or bi-directional valves (e.g., 124, 144, 164), disposed inthe wall 122 of the reserve chamber 120, wall 142 of the cruise chamber140, and/or wall 162 of the spill chamber 160. The second reserve energystorage device can be configured to be in communication with the one ormore devices housed in the instrument case 200, the devices attachedthereto, and/or attached to a portion the airship 102. In the event of afirst main energy storage device failure, the one-way flow valve 146,and/or bi-directional valve 144, disposed in the cruise chamber 140 canthen be optionally opened to descend the system 100. The second reserveenergy storage device 280 then provides a mechanism for powering the oneor more devices housed in the instrument case 200, the devices attachedthereto, and/or attached to a portion of the airship 102, to provideadditional maneuvering, if necessary, and/or operation of the system100.

The airship 102 and/or instrument case 200 can optionally comprise oneor more thrust components (not illustrated in FIGS. 1 and 2) attached tothe wall 107 of the balloon 105 and/or the housing 202 of the instrumentcase 200. The one or more thrust components are in communication withone or more of the devices housed within the instrument case 200 (e.g.,circuit board 210) and are configured to provide thrust capabilitiesupon receipt of a signal from a user, on-board software, and/or groundcontrol software. The one or more thrust components can comprise anysuitable mechanism for providing thrust to the system 100 and can beconfigured in any suitable manner (e.g., angle). Examples of suitablethrust component include, but are not limited to, compressed fluidcartridges (e.g., CO2 cartridges, pressurized cartridges), compressedfluid thrust valves, propellers, engines, motors, thruster 700, thruster870, thruster 970, thruster 1200, thruster 1300, thruster 1500, thrustmodule 1800, or other forms of propulsion which are configured toprovide thrust.

In addition, the airship 102 and/or instrument case 200 can optionallycomprise one or more servomotors and/or movable cowls attached to thewall 107 of the balloon 105 and/or the housing 202 of the instrumentcase 200 that are configured to adjust the direction of the thrustprovided by the one or more thrust components. Alternatively, the one ormore thrust components can comprise the one or more one-way valves(e.g., 146, 166, optional one-way valve in wall 162 of reserve chamber160) or one or more bi-directional valves (e.g., 124, 144, 164) disposedin the wall of the one or more chambers (e.g., 120, 140, 160), and/orthe wall of any other device, component, and/or element describedherein.

It should be noted that the arrangements of the circuit board 210, oneor more observation devices 220, sensing devices 230, location devices240, computational devices 250, communication devices 260, storagedevices 270, and/or energy storage devices 280 are set forth forpurposes of example only, and other arrangements and elements can beused as alternatives and some elements may be omitted. Furthermore, someof the elements described herein are functional components that mayimplemented as hardware, firmware, or software, and/or as discretecomponents used in conjunction with other components, or separately, inany suitable combination or arrangement.

For example, one or more of the bi-directional valves 124, 144, 164and/or one-way valves (e.g., 146, 166, optional one-way valve in wall162 of reserve chamber 160) can comprise a valve with a structuralarrangement as illustrated in FIGS. 4 and/or 5. FIG. 4 illustrates avalve 340 attached to a balloon 359. The valve 340 comprises a base 342,servo 344, cap 346, first tubular member 348, and second tubular member354. The servo 344 and first tubular member 348 are each attached to thebase 342. The cap 346 is attached to a portion of the servo 344 suchthat with activation of the servo 344 the cap 346 can rotate. The cap346 defines an aperture 347 that extends through a thickness of the cap346. The first tubular member 348 comprises a first end 349 and a secondend 350 and defines an aperture 351 and a recess 352 having a base 345.The aperture 351 extends between an opening on the first end 349 of thefirst tubular member 348 and an opening located on the base 345 ofrecess 352. The recess 352 extends into the first tubular member 348from the second end 350 to base 345 located between the first end 349and the second end 350. The aperture 351 and the recess 352 are in fluidcommunication with one another. The second tubular member 354 defines apassageway 355 and a valve 361. The passageway 355 extends between anopening at the first end 356 and an opening on the second end 357 of thesecond tubular member 354. The valve 361 is in communication with thepassageway 355 and allows for the removal and/or insertion of a fluidinto the passageway 355, and/or any other elements in communicationtherewith. The valve 361 can comprise a one-way valve or bi-directionalvalve, such as those described herein. The valve 361 can optionally beomitted.

The second end 357 of the second tubular member 354 is attached to anopening 358 defined by the wall of a balloon 359 (e.g., balloon definingreserve chamber, balloon defining cruise chamber, balloon defining spillchamber). The outside diameter of the second tubular member 354 is lessthan the inside diameter of the recess 352 of the first tubular member348. The first end 356 of the second tubular member 354 is rotatablydisposed, and/or attached, within the recess 352 of the first tubularmember 348 such that in a first position the passageway 355 is incommunication with the aperture 351 of the first tubular member 348 andin a second position the passageway 355 is not in communication with theaperture 351 of the first tubular member 348.

The cap 346 is disposed on a portion of the servo 344 such that it canbe moved between a first position and a second position. In the firstposition, the aperture 347 of the cap 346 is in communication with theaperture 351 defined by the first tubular member 348. In the secondposition, the aperture 347 of the cap 346 is not in communication withthe aperture 351 defined by the first tubular member 348. Thus, when thesecond tubular member 354 and the cap 346 are each in the firstposition, fluid can be passed through the aperture 347 of the cap 346,the aperture 351 of the first tubular member 348, and the passageway 355of the second tubular member 354 into and/or out of the chamber 360 ofthe balloon 359. If either of the second tubular member 354 or the cap346 is in the second position, fluid is retained within the chamber 360of the balloon 359.

Alternatively, as illustrated in FIG. 5, the second tubular member canbe omitted, and an alternative valve 362 can comprise a base 363, servo364, cap 365, and a first tubular member 366. The valve 362 is similarto valve 340, except as described herein. The cap 365 is attached to aportion of the servo 364 such that with activation of the servo 364 thecap 365 can rotate. The cap 365 defines an aperture 367 that extendsthrough a thickness of the cap 365. The first tubular member 366comprises a first end 368 and a second end 369 and defines a firstpassageway 370 and a second passageway 371. The first passageway 370extends between an opening on the first end 368 and an opening thesecond end 369 of the first tubular member 366. The second passageway371 extends between an opening on the first end 368 and an opening onthe second end 369 of the first tubular member 366. The second end 369is adapted to be attached to an opening defined by a wall of a balloonsuch that the first passageway 370 and the second passageway 371 are incommunication with a chamber defined by the wall of the balloon. Thesecond passageway 371 comprises a one-way valve 375 that allows fluid tobe passed through the second passageway 371 and into the chamber definedby the balloon, but prevents fluid from flowing out of the chamber ofthe balloon through the second passageway 371.

The cap 365 is disposed on a portion of the servo 364 such that it canbe moved between a first position, a second position, and a thirdposition. In the first position, the aperture 367 of the cap 365 is incommunication with the first passageway 370 defined by the first tubularmember 366, allowing for fluid to be passed into and/or released fromthe chamber defined by the balloon. In the second position, the aperture367 of the cap 365 is in communication with the second passageway 371defined by the first tubular member 366, allowing for fluid to beintroduced into the chamber defined by the balloon and preventing fluidfrom being released through the second passageway 371. In the thirdposition, the aperture 367 defined by the cap 365 is not incommunication with either of the first passageway 370 or the secondpassageway 371, preventing fluid from entering or escaping from thechamber of the balloon.

Each of the valves 340 and 362 described herein can comprise one or moregaskets to prevent fluid from leaking between the various elementsdescribed. For example, valve 340 can comprise one or more gasketsdisposed between the cap 346 and the first tubular member 348, disposedbetween the first tubular member 348 and the second tubular member 354,and/or disposed between the second tubular member 354 and the balloon359. In another example, the valve 362 can comprise one or more gasketsdisposed between the cap 365 and the first tubular member 366, and/ordisposed between the first tubular member 366 and an attached balloon.

In another example, each of the one or more balloons defining the one ormore chambers can comprise a neck that provides access to the chamber ofthe balloon. A tubular member can be disposed and attached within theneck of the balloon and in communication with a servomechanism. Forexample, the servomechanism can comprise a servo arm having an apertureand a portion of the tubular member can extend through the aperture ofthe servo arm. The tubular member has a first configuration and a secondconfiguration. In the first configuration, the tubular member allows forfluid within the chamber to be released from the chamber into theatmosphere. In the second configuration, the servomechanism rotates theservo arm to kink the tubular member preventing fluid from the chamberfrom flowing into the atmosphere.

Alternatively, the neck of the balloon defining an opening that providesaccess to the chamber defined by the wall of the balloon can be insertedthrough the aperture of the servo arm and have a first configuration anda second configuration. In the first configuration, the neck of theballoon allows for fluid within the chamber to be released from thechamber into the atmosphere. In the second configuration, theservomechanism rotates the servo arm to kink the neck of the balloonpreventing fluid from the chamber from flowing into the atmosphere.

The bi-directional valves (e.g., 124, 144, 164) and/or one-way valves(e.g., 146, 166, optional one-way valve in wall 162 of reserve chamber160) described herein can comprise any suitable valve for accomplishingthe introduction, retention, and/or release of fluid contained withinthe one or more chambers. Examples of valves considered suitableinclude, but are not limited to, ball valves, butterfly valves, globevalves, gate valves, diaphragm valves, and/or other valves describedherein. While particular valves have been describe, skilled artisanswill be able to select an appropriate valve according to a particularembodiment based on various considerations, such as the weight of thevalve, the weight of the system, and/or the volume of fluid to beretained within the one or more chambers.

FIG. 6 is an exemplary method 450 of obtaining aerial images using alighter-than-air system (e.g., system 100, system 800, system 900,system 1100, system 1400, system 2100, system 2200). An initial step 452comprises determining one or more images to obtain. Another step 454comprises inputting data into ground control software. Another step 456comprises obtaining data from the ground control software. Another step458 comprises proceeding to a launch site. Another step 460 comprisesplacing the system on a scale. Another step 462 comprises introducing avolume of fluid into one or more of the chambers. Another step 464comprises removing one or more plugs from the wall of the spill chamber.Another step 466 comprises launching the system. Another step 468comprises tracking the system. Another step 470 comprises adjusting theflight path of the system. Another step 472 comprises initiating thedescent of the system. Another step 474 comprises proceeding to thelanding site of the system. Another step 476 comprises retrieving thesystem.

The step 452 of determining one or more images to obtain can beaccomplished by determining the location, and amount, of images to beacquired. For example, this can be accomplished by selecting a projectarea that contains one or more ground and/or aerial points of interestfor which a user wishes to obtain images. Alternatively, or incombination with one or more points of interest, the selected locationscan include regional coverage of an area.

The step 454 of inputting data into ground control software can beaccomplished by providing a computer system, or other device, containinga software program (e.g., ground control software program) that isconfigured to calculate at least one or more of a planned ascent,cruising altitude, drift, and/or descent of the system. The data inputinto the ground control software program can include, but is not limitedto, the weight of the system, the location of images to be obtained(e.g., preselected points of interest), the number of images to beobtained, the length of time for the flight, the desired launch site,the number of systems being launched, the desired landing site, thedesired flight path, the desired planned drift, and/or other data asdescribed herein. The data can be input into the ground control softwareprogram through a variety of input means (e.g., keyboard, voice command,keypad, text message, file upload).

When available, the ground control software program is configured toutilize any suitable data, such as internet data (e.g., whether launchsite and/or landing site is on private property, height above sea level,whether a launch site and/or landing site is in a water mass), fielddata (e.g., topographical, geographical, land use, forces caused bybuildings and/or mountains), meteorological data (e.g., wind speed,updrafts caused by heat, pressure changes caused by geographicconditions, pressure changes caused by sun positions, temperature, timeof day, historic meteorological data, on shore and/or off sore sea sidebreezes), and mathematical methods to determine at least the plannedascent, drift, and descent of the system and output data associated withat least one or more of the volume of fluid required in each chamber(e.g., 120, 140, 160, 1144, 1154, 1164, 1444, 1454, 1566), the locationof the launch site, the optimal launch time, the number of plugs toremove from the wall of the spill chamber, the timing of the release offluid from the cruise chamber, and/or the location of the end of thelanding site. Examples of mathematical methods considered suitable todetermine the above factors include, but are not limited to: van derHoven's spectrum (e.g., predicting the angle and force of geostrophicand local winds), Weibull's distribution (e.g., estimating probabilityof wind speed), and Prandtl's logarithmic law (e.g., estimating groundfriction effects and wind sheer effects). These formulae and data can beutilized to generate a histogram for a particular project.

The ground control software program is configured to calculate one ormore of planned ascent, drift, descent, and/or aerial points and/orpaths to travel to allow the one or more devices housed within theinstrument case to obtain images requested by the user using the abovedata, based on user input of a launch point, landing site, desiredflight path, and/or cruising altitude. Alternatively, with respect toobtaining images relating to a particular location, the ground controlsoftware can output data relating to an optimal launch site or launchtime, if the user indicates that one or the other is more important. Forexample, where obtaining images of a particular location is necessary assoon as possible (e.g., public safety or national security is at issue),a user can indicate to the ground control software that launch will beimmediate, or at a designated time, such that the ground controlsoftware optimizes the launch site for prevailing conditions.

The ground control software is configured to store information relatingto past and/or present flights to generate optimal planned ascents,drift, and descent. For example, the ground control software can storedata relating to past and/or present flights to increase thepredictability of future and/or current planned ascents, drifts,descents, and/or launches. This data can be plotted using any suitabletechnique. For example, the data can be plotted on any suitable existingmap, geo-referenced map (e.g., geo-referenced electronic map), imageset, and/or any other suitable form of reference. Example forms of dataconsidered suitable to compile, store, and/or use to plot on an existingmap, geo-referenced map (e.g., geo-referenced electronic map), and/or onan image set include, but are not limited to, data associated with windspeeds at one or more intervals of time (e.g., seconds, minutes, hours,days), temperatures, atmospheric pressures, data described herein, andany other data considered suitable for a particular application. Inaddition, the ground control software is configured to provide anoptimal landing site of the system. For example, if it is determinedthat the expected landing site of the system is inconvenient (e.g., aroof top, within a lake), the ground control software can calculate analternative landing site and output data relating to the volume of fluidrequired in the chambers, the launch site, among others, as describedherein. Alternatively, if it is determined that the expected landingsite of the system is inconvenient, the user can select a nearby siteand the ground control software can calculate the necessary data to beused for launch, ascent, and descent of the system. The ground controlsoftware can provide one or more secondary landing sites in alldirections around the coordinates of the primary landing site.Calculating secondary landing sites is considered advantageous to allowa user to select the secondary landing site should the system be forcedoff an originally planned drift path.

The ground control software can include password protectioncapabilities, for example, which require a user to provide a user IDand/or password to interact with the software. A user can input astarting point and/or ending point for a particular flight usinggeographical coordinates, and/or by clicking on a point on an electronicmap. The ground control software is configured to accept the startingand ending coordinates of the flight, unless a restriction is associatedwith the starting and/or ending coordinates (e.g., no public access,undesirable location due to geographical conditions). If a restrictionis associated with a coordinate, the ground control software can returna message to a user indicated such (e.g., “Trespassing” point is legallyinaccessible, “No Pass”—point is physically undesirable because ofgeographical conditions: wet, dry, low, high). A user can override therejection of a coordinate and require the ground control software to usethe points initially entered rather than alternatively generatedcoordinates. Alternatively, the user can select alternative coordinates.

FIG. 7 illustrates an exemplary computer system 502 upon which exemplaryground control software, and/or on-board software, may be implemented.

As used herein, the term “computer system” (also referred to merely as a“computer”) means one or more general-purpose and/or specific-purposecomputers, one or more digital information processing machines (e.g.,devices, software, hardware, or the combination thereof), or one or moredigital clients. Thus, computer systems may include, but are not limitedto, host computers, client computers, server computers, desktopcomputers, laptop computers, tablet computers, televisions, digitalcameras, smart phones, cellular phones, hand-held devices, digital mediadevices, digital media players, peripherals, machines,telecommunications devices (e.g., modems and routers), composite systemscomposed from multiple other systems, embedded controller systems,microprocessor-based systems, digital signal processor-based systems,personal digital assistant (PDA) systems, Internet connected devices,digital hubs, gaming systems (e.g., Xbox 360®, Wii®), home theatercomponents, wireless systems, wireless networking systems, and/orcomputer software/software subsystems running therein.

For example, a user may use a computer system 502, and associated groundcontrol software and/or on-board software, to calculate at least aplanned ascent, drift, and/or descent of a lighter-than-air system, asdescribed herein, and/or other data as described herein. For example,on-board software can be configured to perform the same, or different,functions as the ground control software and can be contained within acomputer system similar, or identical to, computer system 502 housedwithin an instrument case.

The computer system 502 may include a bus 504 or other communicationmechanism for communicating information and a processor 506 coupled withbus 504 for processing the information. The computer system 502 may alsoinclude a main memory 508, such as a random access memory (RAM) or otherdynamic storage device (e.g., dynamic RAM (DRAM), static RAM (SRAM),synchronous DRAM (SDRAM), flash RAM), coupled to bus 504 for storinginformation and instructions to be executed by processor 506. Inaddition, main memory 508 may be used for storing temporary variables orother intermediate information during execution of instructions to beexecuted by processor 506.

The computer system 502 may further include a read only memory (ROM) 510or other static storage device (e.g., programmable ROM (PROM), erasablePROM (EPROM), and electrically erasable PROM (EEPROM)) coupled to bus504 for storing static information and instructions for processor 506. Astorage device 512 (e.g., hard drive, floppy drive, magnetic disk, flashdisk, optical disk) may be provided and coupled to bus 504 for storinginformation and instructions.

The computer system 502 may also include input/output ports 530 tocouple the computer system 502 to external devices. Such coupling mayinclude direct electrical connections, wireless connections, networkedconnections, etc., for implementing automatic control functions, remotecontrol functions, etc.

The computer system 502 may also include special purpose logic devices(e.g., application specific integrated circuits (ASICs)) or configurablelogic devices (e.g., generic array of logic (GAL), re-programmable fieldprogrammable gate arrays (FPGAs)). Other removable media devices (e.g.,compact disc (CD), magnetic tape, removable magneto-optical media) orfixed, high-density media drives, may be added to the computer system502 using an appropriate device bus (e.g., small computer systeminterface (SCSI) bus, enhanced integrated device electronics (EIDE) bus,ultra-direct memory access (DMA) bus). The computer system 502 mayadditionally include a peripheral (e.g., compact disc reader, DVDreader, compact disc reader-writer unit, DVD burner, compact discjukebox), which may be connected to the same device bus or anotherdevice bus.

The computer system 502 may be coupled via bus 504 to a display 514(e.g., cathode ray tube (CRT), liquid crystal display (LCD), LEDdisplay, plasma display, voice synthesis hardware, voice synthesissoftware) for displaying and/or providing information and/or data to auser. The display 514 may be controlled by a display and/or graphicscard. The display 514 may include one or more interface cards orcomponents (e.g., audio card, video card).

The computer system 502 may include input devices 516 (e.g., keyboard),and/or a cursor control 518, for communicating information and commandselections to processor 506. Such command selections can be implementedvia voice recognition hardware and/or software functioning as the inputdevices 516. The cursor control 518, for example, is a mouse, atrackball, cursor direction keys, touch screen display, opticalcharacter recognition hardware and/or software, etc., for communicatingdirection information and command selections to processor 506 and forcontrolling cursor movement on the display 514. In addition, a printermay provide printed listings of the data structures, information, etc.,or any other data stored and/or generated by the computer system 502.

The computer system 502 may perform at least a portion or all of theprocessing steps of an exemplary ground control software program, and/oron-board software program. For example, computer system 502 can used tocalculate one of at least one or more of planned ascent, drift, and/ordescent of a system, other data described herein, and/or for obtainingof one or more images of one or more points of interest in response toprocessor 506 executing one or more sequences of one or moreinstructions contained in a memory, such as the main memory 508. Suchinstructions may be read into the main memory 508 from another computerreadable medium, such as storage device 512, or may be transmitted by anetwork connection. One or more processors in a multi-processingarrangement may also be employed to execute the sequences ofinstructions contained in main memory 508. Alternatively, hard-wiredcircuitry may be used in place of or in combination with softwareinstructions. Specific combinations of hardware circuitry and softwarecan vary depending on the hardware and software being utilized.

As stated above, the system 502 may include at least one computerreadable medium (e.g., compact discs, hard disks, floppy disks, tape,magneto-optical disks, PROMs (EPROM, EEPROM, Flash EPROM), DRAM, SRAM,SDRAM) or memory programmed according to the teachings of an exemplaryground control software program, and/or on-board software program, forthe control of system, and/or calculation of the data as describedherein. Stored on any one or on a combination of computer readablemedia, an exemplary ground control software program, and/or on-boardsoftware program, may include software and/or hardware for controllingthe computer system 502, for driving one or more devices forimplementing an exemplary lighter-than-air system, and/or for enablingthe computer system 502 to interact with a human user. Such software mayinclude, but is not limited to, device drivers, operating systems,development tools, and applications software. Such computer readablemedia further includes the computer program of an exemplary groundcontrol software program, and/or on-board software program, for themanagement of system for performing all or a portion (if processing isdistributed) of the processes, calculations, and/or methods as describedherein.

The computer code devices of an exemplary ground control softwareprogram, and/or on-board software program, may be any interpreted orexecutable code mechanism, including, but not limited to, scripts,interpreters, dynamic link libraries, Java classes, and completeexecutable programs. Moreover, parts of the processing of an exemplaryground control software program, and/or on-board software program, maybe distributed for better performance, reliability, and/or cost.

The term “computer readable medium” as used herein refers to any mediumthat participates in providing instructions to processor 506 forexecution. A computer readable medium may take many forms, including butnot limited to, non-volatile media, volatile media, non-transitorymedia, and transmission media. Non-volatile media includes, for example,optical, magnetic disks, and magneto-optical disks, such as storagedevice 512. Volatile media includes dynamic memory, such as main memory508. Transmission media includes coaxial cables, copper wire and fiberoptics, including the wires that comprise bus 504. Transmission mediaalso may also take the form of acoustic or light waves, such as thosegenerated during radio wave and infrared data communications.

Common forms of computer readable media include, for example, harddisks, floppy disks, tape, magneto-optical disks, PROMs (EPROM, EEPROM,Flash EPROM), DRAM, SRAM, SDRAM, or any other magnetic medium, compactdisks (e.g., CD-ROM, DVD), or any other optical medium, punch cards,paper tape, or other physical medium with patterns of holes, a carrierwave (described below), or any other medium from which a computer canread.

Various forms of computer readable media may be involved in carrying outone or more sequences of one or more instructions to processor 506 forexecution. For example, the ground control software program, and/oron-board software program, can be described in the general context ofcomputer executable instructions, such as program modules, or programcomponents, being executed by a computer. Program modules or componentsinclude routines, objects, data structures, tasks, etc. that can performparticular tasks or implement particular abstract data types. Forexample, the ground control software program, and/or on-board softwareprogram, may be practiced in a distributed computing environment, wherethe instructions or tasks may initially be carried on a magnetic disk ofa remote computer. The remote computer can load the instructions forimplementing all or a portion of an exemplary ground control softwareprogram, and/or on-board software program, remotely into a dynamicmemory and send the instructions over a network connection using, forexample, a modem, a network interface card or a wireless connection. Ina distributed computing environment, program modules or components canbe located in both local and remote computer storage media includingmemory storage devices.

The computer system 502 also includes a communication interface 520coupled to bus 504. Communication interface 520 provides a two-way datacommunication coupling to a network link 522 that may be connected to,for example, a local network 524. For example, communication interface520 may be a network interface card to attach to any packet switchedlocal area network (LAN), Wireless Local Area Network (WLAN), Wide AreaNetwork (WAN), Metropolitan Area Network (MAN), Small Area Network(SAN), Campus Area Network (CAN), or the like. The network can be incommunication with one or more computer systems 502, lighter-than-airsystems, and/or other devices (e.g., 526). As another example,communication interface 520 may be an asymmetrical digital subscriberline (ADSL) card, an integrated services digital network (ISDN) card ora modem to provide a data communication connection to a correspondingtype of telephone line. Wireless links may also be implemented via thecommunication interface 520, for example, to utilize cell phonenetworks. In any such implementation, communication interface 520 sendsand receives electrical, electromagnetic or optical signals that carrydigital data streams representing various types of information.

Network link 522 typically provides data communication through one ormore networks to other data devices. For example, network link 522 mayprovide a connection to a computer 526, and/or other systems 502,through local network 524 (e.g., a LAN) or through equipment operated bya service provider, which provides communication services through acommunications network 528. Local network 524 and communications network528 can use electrical, electromagnetic, or optical signals that carrydigital data streams. The signals through the various networks and thesignals on network link 522 and through communication interface 520,which carry the digital data to and from computer system 502, areexemplary forms of carrier waves transporting the information. Thecomputer system 502 can transmit notifications and receive data,including program code, through the network(s), network link 522 andcommunication interface 520. Network interfaces include, but are notlimited to, Ethernet interfaces, gigabit interfaces, cable interfaces,frame relay interfaces, and DSL interfaces.

The step 456 of obtaining data from the ground control software programcan be accomplished by a user reviewing data displayed on a monitor(e.g., GUI) and/or on a printout. The data obtained from the groundcontrol software program comprises data relating to the planned ascent,drift, and/or descent of the system, the volume of fluid required ineach chamber (e.g., 120, 140, 160, 1144, 1154, 1164), the location ofthe launch site, the number of plugs to remove from the spill chamber,the timing of the launch, the timing of the release of fluid from thecruise chamber and/or spill chamber, the length of flight, and/or thelocation of the landing site of the system.

Once the launch site has been determined, the step 458 of proceeding tothe launch site can be accomplished by relocating to the launch siteprovided by the ground control software program. It is to be noted,however, that the launch site can be calculated by the ground controlsoftware program, and/or on-board software program, or be designated bya user. In the example where the ground control software programdetermines the launch site, the user may have to relocate from a currentlocation to an alternate located to launch the system according to thedata computed by the ground control software program. In the examplewhere the user inputs the desired launch site, the ground controlsoftware program can determine data relating to the planned ascent,drift, and descent of the system, the volume of fluid required in eachchamber (e.g., 120, 140, 160, 1144, 1154, 1164), the number of plugs toremove from the spill chamber, the timing of the launch, the timing ofthe release of fluid from the cruise chamber and/or spill chamber,length of the flight, and/or the location of the landing site of thesystem based on the input of the launch site by the user. Optionally, ifthe user(s) is currently located at the launch site, the step 458 ofproceeding to the launch site can be omitted from the methodology 450and the user can maintain his/her current location.

It is considered advantageous to determine the volume of fluid requiredfor the planned ascent, drift, and descent prior to traveling to thelaunch site to confirm that the proper volume of fluid is on hand forthe flight. Alternatively, a stock of fluid can be stored and utilizedat a launch site that has been designated by the user. For example,predetermined volumes of fluid can be provided in premeasured canisters,as described below.

The step 460 of placing the system on a scale can be accomplished byproviding a scale and attaching the system to the scale. The scale isconfigured to measure the weight of the system prior to, during, andsubsequent to a volume of fluid being introduced into one or more of thechambers (e.g., 120, 140, 160, 1144, 1154, 1164). The scale can compriseany form of measuring device, such as a digital scale, balance scale,lift-hook scale, tension meter, and/or spring scale. For example, when aballoon is attached to a device, such as a tension meter, via a tether,the tension on the tether can be used to determine the buoyancy of theballoon, and/or the amount of weight offset by the fluid within thechamber defined by the balloon.

Alternative to placing the system on a scale, or in combination withthis step, an optional step comprises attaching the system, and/or eachof the one or more chambers, to a gauge. This optional step can beaccomplished by attaching a gauge to a bi-directional valve, one-wayvalve, a hose, tank, or at any position along a length of material usedto introduce fluid into the one or more chambers.

The step 462 of introducing a measured volume of fluid into the chamberscan be accomplished by attaching a first end of a hose to a containercontaining fluid (e.g., portable canister), and the second end to avalve disposed in the wall of one or more of the chambers. Each of thechambers can then be moved from the deflated configuration to theinflated configuration. By having the system attached to a scale, whenthe chambers are filled with fluid, the buoyancy of the system can bedetermined. For example, after placing the system on the scale andobtaining the data from the ground control software program relating tothe volume of fluid to be introduced into each of the chambers, thechambers can be moved from their deflated configurations to theirinflated configurations. The scale can be utilized to determine if thecombined volume of fluid introduced into the reserve chamber (e.g., 120,1154) and cruise chamber (e.g., 140, 1144) is sufficient to offset about100% of the weight of the system to provide neutral buoyancy of thesystem. For example, the reserve chamber can be filled with a volume offluid sufficient to offset about 50% to 80% of the weight of the system.The volume of fluid can be measured as it is introduced into the reservechamber by a gauge and/or the total weight of the system can be examinedon the scale. To determine if the volume of fluid has offset about 50%to 80% of the weight of the system, the user reviews the gauge and/orscale. It is considered advantageous to introduce the fluid into the oneor more chambers in an enclosed area, or some other location outside ofnatural weather conditions (e.g., wind), to at least reduce thelikelihood of the natural weather conditions manipulating the scalereading.

After filling the reserve chamber with a volume of fluid, the user canthen introduce a volume of fluid into the cruise chamber. The volume offluid can be measured as it is introduced into the cruise chamber by agauge and/or the total weight of the system can be examined on thescale. To determine if the volume of fluid has offset the remainder ofthe weight of the system to provide about 100% neutral buoyancy, theuser reviews the gauge and/or scale.

After filling the cruise chamber, the user can then introduce fluid intothe spill chamber. When the spill chamber comprises one or moreapertures and plugs, in a first configuration the plugs are all disposedwithin a corresponding aperture of wall of the spill chamber. Thisallows for the spill chamber to be moved from a deflated configurationto an inflated configuration by the introduction of fluid into the spillchamber. The volume of fluid can be measured as it is introduced intothe spill chamber by a gauge and/or the total weight of the system canbe examined on the scale. To determine if the volume of fluid introducedinto the spill chamber is equal to the volume of fluid to provideplanned ascent and/or drift of the system the user reviews the gaugeand/or scale as the volume of fluid is introduced into the spillchamber.

While the chambers have been described as inflated in a particularorder, the chambers can be filled in any order. For example, thechambers can be filled in combination with one another, or separatelyfrom one another. Furthermore, while particular volumes of fluid havebeen described with respect to each chamber, various other volumes offluid are considered suitable, and skilled artisans will be able toselect an appropriate volume of fluid based on various considerations,such as the desired cruising altitude of the system, among others.

Alternative to introducing a volume of fluid into the one or morechambers at the launch site using a scale and/or gauge, the volume offluid to be introduced into each of the one or more balloons definingthe one or more chambers can be predetermined and compressed into one ormore canisters. The one or more canisters can be configured toreleasably attach to an opening defined by the wall of the one or moreballoons, one or more bi-directional valves, and/or one-way valvesdisposed within the wall of the one or more balloons, to introduce avolume of fluid into the one or more chambers.

For example, the weight of the overall system can be a knowncharacteristic (e.g., 2.15 lbs.). Therefore, the volume of fluidrequired for each of the one or more balloons defining the one or morechambers can be determined for a particular flight, altitude, ascent,planned drift, and/or descent. For example, to provide neutral buoyancyto a system having an overall weight of about 2.15 lbs., 10 totalballoons, each having a full pressure containing a volume of fluid(e.g., helium) of about 7,513 cubic inches, 6 balloons defining thereserve chamber, 2 balloons defining the cruise chamber, and 2 balloonsdefining the spill chamber can be used to accomplish one or more stepsdescribed herein. In this example, about 985 liters, or 60,012 cubicinches, of fluid (e.g., helium) is required to provide neutral buoyancyto the system, and each of the one or more balloons can contain about123.1 liters of fluid (e.g., helium). Each of the one or more canisterscan contain a predetermined measured volume (e.g., 123.1 liters) offluid for each of the chambers and/or balloons and can be used tointroduce the measured amount of fluid into the one or more balloons.Thus, a user is able to introduce a measured volume of fluid into eachof the one or more balloons defining the one or more chambers at thelaunch site, without having to measure the fluid at the launch site.While a particular example has been provided, other weights, volumes,capacities, and/or fluids are considered suitable for providing neutralbuoyancy to a lighter-than-air system, and skilled artisans will be ableto select a particular weight, volume, capacity, and/or fluid based onvarious factors, such as the overall weight of the system. For example,if the overall weight of the system is known, the neutral buoyancy ofthe system can be determined, and the volume of fluid required in thecruise chamber and/or reserve chamber can be determined, and thecruising altitude can be determined by the volume of fluid containedwithin the spill chamber and the rate at which it is released duringascent.

An optional step comprises stretching each balloon prior to introducinga fluid (e.g., lighter-than-air fluid) into the chamber defined by theballoon. This can be accomplished by inflating each balloon to about 75%of its total capacity. Alternatively, each balloon can be inflatedbetween about 25% and about 90% of its total capacity.

Another optional step comprises reviewing the outer surface of eachballoon for defects that may cause the balloon to rupture and deflateduring flight.

Another optional step comprises deflating each balloon.

The step 464 of removing one or more of the plugs from the wall of thespill chamber can be accomplished by removing the number of plugsdesignated by the ground control software program, and/or on-boardsoftware program. For example, the ground control software program willcalculate, and provide to a user, the number and/or diameter of the oneor more plug(s) to be removed from the wall of the spill chamber, basedon factors including, but not limited to, the plug(s) diameter and rateat which the volume of fluid contained within the spill chamber will bespilled into the atmosphere. The ground control software programcalculates the number of plugs to remove from the wall of the spillchamber based on factors including, but not limited to, the desiredcruising altitude of the system as input by the user, or determined bythe ground control software and/or on-board software, and the time ofascent. Optionally, this step can be omitted if the one or moreapertures and one or more plugs are omitted from the wall of the spillchamber, and a one-way valve, two-way valve, and/or thruster can be usedto release a volume of fluid from the spill chamber and/or cruisechamber, for example, by a remote signal, as described herein.

The step 466 of launching the system can be accomplished by removing thesystem from the scale and releasing the system at the time designated bythe ground control software program, on-board software, and/or user.This step can be accomplished in combination with the step 464 ofremoving one or more of the plugs from the wall of the spill chamber.Alternatively, this step can be accomplished by removing the one or morecanisters from the one or more balloons and releasing the system at thetime designated by the ground control software, on-board software,and/or user.

The step 468 of tracking the system can be accomplished by viewing datasupplied by the ground control software program, and/or on-boardsoftware, on a display (e.g., GUI), a GPS unit, and/or by directvisualization. When the system is tracked by the ground control softwareprogram, and/or on-board software, the planned drift of the system isconfirmed and recalculated as necessary. For example, the system can beaerodynamically shaped to capture wind to generate thrust and cause thesystem to travel in a planned direction. Alternatively, when more thanone lighter-than-air system has been launched, the step of tracking thesystem can comprise tracking the one or more systems, and can beaccomplished as described above.

The step 470 of adjusting the flight path can be accomplished by theground control software program, on-board software, and/or a usercalculating alternative planned drifts based on variables that may beintroduced during the flight of the system. For example, if unexpectedwinds, or other forces begin to interact with the system, the groundcontrol software program, on-board software, and/or user will becomeaware of these variables via one or more devices housed within theinstrument case 200 (e.g., communication devices 260, sensing devices230) and an alternate landing site and/or flight path can be calculated,for example, by using the trajectory of the horizontal force and/orvertical force being applied to the system. After computing anynecessary adjustments to continue to provide a planned-drift, the groundcontrol software program, on-board software, and/or a user cancommunicate with the system to either release a portion of fluidcontained within a chamber (e.g., spill chamber, cruise chamber, reservechamber, first balloon chamber, second balloon chamber, containerchamber) and/or initiate use of the one or more thrusters.

The step 472 of initiating the descent of the system is accomplished bythe ground control software program, on-board software, and/or a usercommunicating a signal to the system to open one or more of the one-wayvalves, and/or bi-directional valves disposed in the wall of the cruisechamber and/or reserve chamber. The volume of fluid contained in thereserve chamber 120, which offsets about 50% to 90% of the weight of thesystem, allows for a reduced speed descent of the system, for example,when the volume of fluid contained within the cruise chamber has beenreleased into the atmosphere. The ground control software program,on-board software, and/or user can then track the descent of the systemby reviewing data communicated by one or more devices housed within theinstrument case, and/or by direct visualization of the system.

It is considered advantageous to initiate descent when the projectedlanding site is within tolerable limits as determined by a user, groundcontrol software, and/or on-board software. The projected landing sitecan be calculated using any suitable method and skilled artisans will beable to select a suitable method based on various considerations, suchas the structural configuration of the system. For example, a projectedlanding site can be based on a parabolic trajectory using the systemscurrent location, the vector of current external forces (e.g.,calculated from history), and the descent rate (e.g., based on deflationvolume and time).

Optionally, if the system (e.g., one or more of the devices housedwithin instrument case 200, on-board software) does not receive a signalfrom a user and/or ground control software for an interval of time, thesystem can be configured to initiate descent independent of receiving asignal from a user and/or ground control software. If descent isinitiated independent of receiving a signal from a user and/or groundcontrol software, the coordinates of the system at any point of timeduring the ascent, flight, and/or descent (e.g., beginning of descent,during descent, at landing point) can be transmitted to the user, groundcontrol software, and/or on-board software. This is consideredadvantageous at least because it provides a mechanism for retrieving thesystem should a communications failure occur. The interval of time canbe based on an input supplied by a user and/or be predefined by groundcontrol software or on-board software. Any suitable interval of time isconsidered suitable and skilled artisans will be able to select asuitable interval of time according to a particular embodiment based onvarious considerations, including the desired flight time of the system.Example intervals of time considered suitable include, but are notlimited to, one second, one minute, between about one minute and aboutone hour, one hour, more than one hour, and any other interval of timeconsidered suitable for a particular application.

Optionally, if the projected landing site of the system is not withintolerable limits, then a user, ground control software, and/or on-boardsoftware can select an alternative landing site. A radius containingpotential new landing sites can be determined based on the potentialthrust available to the system (e.g., by releasing fluid through athruster (e.g., by perforating a membrane)) and the vectors of externalforces on the system. This information can be provided to a user, groundcontrol software, and/or on-board software such that a new landing sitecan be selected (e.g., via graphic user interface). In addition to thisinformation, a user, ground control software, and/or on-board softwarecan utilize the one or more observation devices, information provided bythe internet, or otherwise (e.g., maps, imagery), and/or land userecords to determine a potential landing site.

Once a landing site has been determined, the trajectory of the systemwill be calculated with known thrust and/or vectors of external forcevalues. This information is used by a user, ground control software,and/or on-board software to determine the order, and timing, in which toactivate one or more valves and/or one or more membranes to land thesystem at a particular landing site.

Alternatively, when a thruster (e.g., 700, 870, 970, 1200, 1300) isbeing used, the step of initiating the descent of the system can beaccomplished by the ground control software program, on-board software,and/or a user communicating a signal to the system to perforate one ormore of the membranes disposed over an opening defined by a thruster.

The step 474 of proceeding to the landing site of the system can beaccomplished by traveling to the landing site provided by the groundcontrol software program, on-board software, and/or user. For example,the ground control software program can provide data to a user relatingto the expected landing site of the system, which can be plotted onexisting electronic maps and/or land images. Alternatively, if the useris already located at the landing site, this step can be omitted.

The step 478 of retrieving the system can be accomplished by locatingthe system and gaining possession of the system.

The data obtained prior to, during, and/or subsequent to the flight ofthe system can be compiled to create a data store of information thatcan be utilized by various industries (e.g., wind turbine industry),and/or for future flights of one or more systems. The compiled data canbe provided via any suitable medium (e.g., Internet web site, magazine,book, server) to anyone seeking the information.

An optional step comprises activating sleep mode which can beaccomplished by a user and/or ground control software sending a signal,which can be user activated, a timed event, surveillance match (e.g.,digital, analog) to a point of interest, and/or other event, to one ormore of the devices within the instrument case to either lower powerconsumption, or turn off one or more of the devices entirely. A furtheroptional step comprises activating hover mode which can be accomplishedby a user and/or ground control software sending a signal, which can beuser activated, a timed event, surveillance match (e.g., digital,analog) to a point of interest, and/or other event, to one or more ofthe devices within the instrument case to close all valves currentlyopened and terminate all signals to any thrust devices that areproviding thrust to the system, thereby allowing the system to drift. Itis considered advantageous to allow for sleep mode and/or hover mode toallow for the system to cover broad areas for long periods of time.

While various steps, alternative steps, and optional steps have beendescribed above with respect to obtaining aerial images, these steps,alternative steps, and optional steps can be included in, accomplishedconcurrently with, and/or accomplished in the alternative to, themethodologies, steps, alternative steps, and/or optional steps describedabove, and/or below with respect to method 600 and/or method 2300.

FIG. 8 is a second exemplary method 600 of obtaining aerial images usinga lighter-than-air system (e.g., system 100, system 800, system 900,system 1100, system 1400, system 2100, system 2200). The method 600 issimilar to that described above with respect to method 450, except asdescribed below. An initial step 602 comprises determining one or moreimages to obtain. Another step 604 comprises inputting data into groundcontrol software program. Another step 606 comprises obtaining data fromthe ground control software program. Another step 608 comprisesproceeding to a launch site. Another step 610 comprises placing thesystem on a scale. Another step 612 comprises introducing a measuredvolume of fluid into the chambers. Another step 614 comprises removingone or more plugs from the wall of the spill chamber. Another step 616comprises launching the system. Another step 618 comprises tracking thesystem. Another step 620 comprises sending low-resolution images.Another step 622 comprises storing high-resolution images. Another step624 comprises adjusting the flight path. Another step 626 comprisesinitiating the descent of the system. Another step 628 comprisesproceeding to the landing site of the system. Another step 630 comprisesretrieving the system.

The step 620 of sending low-resolution images is accomplished by the oneor more observation devices 220 obtaining low-resolution images of oneor more points of interest and communicating those one or more images tothe ground control software, a user, and/or one or more storage devices270. It is considered advantageous to provide real-time low-resolutionimages to the ground control software and/or a user to reduce the energyand/or time required to communicate these images.

In addition, because the cruising altitude of the system can be adjustedby the ground control software program, on-board software, and/or auser, low altitude and low revealing angles of georeferenced obliqueimages can be obtained which provide greater detail of the points ofinterest being imaged. By providing closer proximity to points ofinterest, the georeferencing of images and other data are less prone togeometric errors.

The step 622 of storing high-resolution images is accomplished by theone or more observation devices 220 obtaining high-resolution images ofone or more points of interest and communicating those one or moreimages to the one or more storage devices 270. It is consideredadvantageous to store high-resolution images to the one or more storagedevices 270 to reduce the energy required to communicate these images tothe ground control software program, and/or a user.

Alternatively, a user can manipulate which images (e.g., low-resolution,high-resolution) are stored in the one or more storage devices 270and/or communicated to the user and/or ground control software. Forexample, the ground control software program can be configured to allowa user to select which images to view, high-resolution images orlow-resolution images. Optionally, one or more images can be viewed inreal time. The type of image not being viewed can be stored in thestorage devices 270. Alternatively, both types of images can be storedin the storage device 270, and/or communicated to the ground controlsoftware program, storage contained within computer having groundcontrol software thereon, and/or user, regardless of whether or not theimages are being viewed in real-time.

An optional step comprises obtaining one or more images once a user,ground control software, and/or on-board software determines that apoint of interest has been reached, or the system is near a point ofinterest. For example, once the system approaches, or arrives, within arange of a defined x, y, and/or z coordinate of a desired point ofinterest, the system can initiate obtaining one or more images.

An optional step comprises launching one or more systems in combinationwith an initially launched system, or launching one or more systemsseparately and subsequent to an initially launched system, to gatheraerial images at multiple locations, or of the same location. Thisoptional step can be included not only in methodology 600, but also inmethodology 450 and/or methodology 2300, and any other variation ofthese methodologies. For example, the ground control software program,on-board software, and/or user can determine a number of systems tolaunch to obtain the desired images of one or more points of interest.The ground control software program, and/or on-board software, can beconfigured to network the information between the one or more systemsprior to, during, or subsequent to launch, ascent, drift, descent,and/or landing.

For example, the ground control software program can be configured toprovide data relating to strategic sequencing of launches for more thanone system to accomplish coverage over one or more particular locationsand/or points of interest. A first “scout” system at an upwind perimeterof the coverage area can be launched and communicate data, as describedherein (e.g., low-resolution images, location data), which can be usedby the ground control software program, on-board software, and/or a userto determine the traveled course of the system and its speed over theground. This data can then be used to determine the launch location ofone or more subsequent systems, which in turn provide data for furthersubsequently launched systems. All data points can be combined toprovide optimal launch sites and planned ascent, drift, and/or descentfor one or more additional systems (e.g., fleet of systems). Each of thesystems can be delivered to its launch site by all terrain groundvehicles, or other vehicles, equipped with GPS, so that the time betweenthe ground vehicle is dispatched and the system is launched isminimized.

The systems and methods described herein advantageously provide forobtaining aerial images at lower altitudes with greater detail andviewing angles. The data obtained during the flight of the system by theone or more devices housed within the instrument case can providecoordinates for points within an image, which can be corrected bysoftware, if necessary, that compares the location of the system whenthe image was obtained and dimension data associated with the image of aknown monument placed at the known launch site, or otherwise, to theactual location and dimensional data. For example, image data (e.g.,triaxial lens inclination, declination, angular measurements) can bereadjusted in postproduction according to images obtained of a monumentof known dimension placed at the launch site, or other location. Thisinformation can be used with other data provided by the devices withinthe instrument case (e.g., sensing devices 230) to calculate look anglesand focal axes of the lenses when the images were obtained. The systemcan provide an initial image of a monument at the launch site, or otherlocation, to the ground control software program, on-board software,and/or a user that can used to recalibrate georeferencing algorithms.Depending on the accuracy requirements required for a project, the imagedata can be combined with other data from preexisting coordinatemonuments on the ground. This results in obtaining data for positionalcalculations currently in use to deduce the geo-reference or groundcoordinates of image portions or pixels.

For example, the set angle and focal length of the lenses is combinedwith the inclinometric readings derived from triaxial angle sensorswithin the instrument case and are transmitted to the ground controlsoftware program, on-board software, and/or a user. This information canthen be utilized to quilt pixels into georeferenced image arrays, whichcan be supplied to users via the Internet or otherwise.

An optional step comprises transmitting the information (e.g., data,images) obtained by the system (e.g., one or more devices housed withininstrument case) to the Internet or other device. For example, a server,client, and/or web site can be configured to receive data from a user,ground control software, on-board software, and/or one or morecommunication devices, relating to past, present, and future systemflights and publish this data on a web page. In addition, the server,client, and/or website can be configured to receive and publish areal-time stream to allow Internet users to view the information (e.g.,images, data) being captured during flight by receiving data received bya user, ground control software, on-board software, and/or one or morecommunication devices.

While various steps, alternative steps, and optional steps have beendescribed above with respect to obtaining aerial images, these steps,alternative steps, and optional steps can be included in, accomplishedconcurrently with, and/or accomplished in the alternative to, themethodologies, steps, alternative steps, and/or optional steps describedabove with respect to method 450 and/or below with respect to method2300.

Optionally, any of the systems (e.g., system 100, system 800, system900, system 1100, system 1400, system 2100, system 2200) describedherein can comprise one or more thrusters (e.g., CO₂ cartridges,pressurized cartridges). The one or more thrusters can be attached toany portion of the systems described herein to provide maneuverabilityand/or stabilization of the system. For example, with respect to thesystem 100, one or more thrusters can be attached to the balloon 105,instrument case 200, and/or any portion of the system 100. In anotherexample, with respect to system 800, system 900, and/or system 1100, oneor more thrusters can be disposed on any portion of the system (e.g.,first balloon, second balloon, third balloon, thruster, instrumentcase). The thrusters can be adapted to provide thrust in a singledirection and/or in multiple directions.

FIG. 9 illustrates a structural arrangement of an exemplary thruster 700that can be utilized by any of the systems described herein to providethrust. The thruster 700 comprises a first tubular member 701, a secondtubular member 702, a third tubular member 703, a fourth tubular member704, a fifth tubular member 705, and membranes 706. The first tubularmember 701 defines a passageway 707 that extends between the first end708 and the second end 709 of the first tubular member 701. The secondtubular member 702 defines a passageway 710 that extends between thefirst end 711 and the second end 712 of the second tubular member 702.The third tubular member 703 defines a passageway 713 that extendsbetween the first end 714 and the second end 715 of the third tubularmember 703. The fourth tubular member 704 defines a passageway 716 thatextends between the first end 717 and the second end 718 of the fourthtubular member 704. The fifth tubular member 705 defines a passageway719 that extends between the first end 720 and the second end 721 of thefifth tubular member 705. Alternatively, the first tubular member 701and the third tubular member 703 and/or the second tubular member 702and fourth tubular member 704 can be formed as a single tubular member,or an integrated unit. In a further alternative, each of the tubularmembers can be formed as an integrated unit.

The first end 720 of the fifth tubular member 705 is adapted to beattached to within an opening 722 defined by a wall of a balloon 723such that passageway 719 is in fluid communication with the chamber ofthe balloon 723. It is considered advantageous to configure the firsttubular member 701 at a right angle to the second tubular member 702 andthe fourth tubular member 704 in a first plane, the second tubularmember 702 at a right angle to the third tubular member 703 in the firstplane, and the fourth tubular member 704 at a right angle to the thirdtubular member 703 and the first tubular member 701 in the first plane.In addition, it is considered advantageous to configure the fifthtubular member 705 at an angle substantially perpendicular, orperpendicular, to the first plane containing the first tubular member701, second tubular member 702, third tubular member 703, and the fourthtubular member 704.

Each of the second ends 709, 712, 715, 718, and 721 are attached to oneanother to allow for each of the passageways 707, 710, 713, 716, and 719to be in fluid communication with one another. Each of the first tubularmember 701, second tubular member 702, third tubular member 703, andfourth tubular member 704 comprise a membrane 706 disposed on each firstend 708, 711, 714, 717. A membrane 706 can be stretched around the outerperimeter of the tubular member and attached to each first end 708, 711,714, 717 using an adhesive, O-ring, weld, or a threaded cap that mateswith a threaded first end. The membrane 706 can be formed of anysuitable material (e.g., polyester films (e.g., biaxially-orientedpolyethylene terephthalate (Mylar®), latex) that allows for sealing thetubular member and which can be perforated to release fluid underpressure. A perforator housed within one or more of the first tubularmember 701, second tubular member 702, third tubular member 703, fourthtubular member 704, and/or fifth tubular member 705, or on the exteriorof the thruster 700, and in communication with one or more deviceswithin the instrument case, provides a means for perforating membrane706 and releasing pressurized fluid. The perforator can comprise anysuitable means of performing perforation of the membrane, such as amechanical device (e.g., a servo having a needle, and/or hot wire,disposed on a portion thereof), a thermal device (e.g., heated coil,heated conductor), an optical device (e.g., laser), and/or a shapememory actuator (e.g., muscle wire) which moves from a first curvedconfiguration to a second straight configuration upon receipt of asignal to cause penetration of the membrane. Thus, upon receipt of asignal from one or more devices within the instrument case, a user,on-board software, and/or ground control software, the perforator can beactivated to perforate one or more of the membranes 706 disposed on thefirst end of each of the first tubular member 701, second tubular member702, third tubular member 703, and/or fourth tubular member 704 toprovide thrust and/or descent.

The tubular members can comprise any suitable length, diameter, andcross-section. Cross-sections considered suitable include, but are notlimited to, triangular, square, hexagonal, and any other suitablegeometric shape. Examples of suitable diameters and/or lengths for thetubular members include, but are not limited to, a fifth tubular memberhaving a 2″ outer diameter and each of the first tubular member, secondtubular member, third tubular member, and fourth tubular member having a1.0-inch (2.54 cm) outer diameter and a length of 1.0-inch (2.54 cm)from the first end to the second end. While a particular structuralarrangement for a tubular member has been described, other structuralarrangements (e.g., length, diameters) are considered suitable, andskilled artisans will be able to select a particular structuralarrangement based on various considerations, such as the desired thrustof the system. For example, a first tubular member and a third tubularmember can be stacked on a second tubular member and a fourth tubularmember and lay in a plane parallel to a plane containing the secondtubular member and fourth tubular member.

In use, when the balloon 723 is under pressure, descent of the systemand/or thrust can be achieved in a variety of ways using thruster 700,depending on the number of membranes 706 that are opened. For example,each membrane 706 attached to the first tubular member 701, secondtubular member 702, third tubular member 703, and fourth tubular member704 can be opened independent of one another to provide thrust in asingle direction. Alternatively, multiple membranes 706 can be openedsimultaneously to provide thrust in a variety of different directions.For example, the membrane 706 disposed on the first end 708 of the firsttubular member 701 can be opened simultaneously with the membrane 706disposed on the first end 711 of the second tubular member 702, themembrane 706 disposed on the first end 708 of the first tubular member701 can be opened simultaneously with the membrane 706 disposed on thefirst end 717 of the fourth tubular member 704, the membrane 706disposed on the first end 714 of the third tubular member 703 can beopened simultaneously with the membrane 706 disposed on the first end711 of the second tubular member 702, and/or the membrane 706 disposedon the first end 714 of the third tubular member 703 can be openedsimultaneously with the membrane 706 disposed on the first end 717 ofthe fourth tubular member 704. While various examples of opening themembranes 706 have been described, other variations are consideredsuitable, and skilled artisans will be able to select a particularvariation based on various considerations, such as the desireddirectionality of the system. Alternatively, the first end 720 of thefifth tubular member 705 can be attached to a pressurized container(e.g., CO₂ cartridge) to provide thrust.

Alternative to providing membranes 706, any suitable valve describedherein that can be activated by a signal from one or more devices withinthe instrument case, a user, on-board software, and/or ground controlsoftware, to allow for fluid to pass through the valve can be disposedon a tubular member.

It is considered advantageous to include an internal measurement unit(IMU) in the instrument case, and in communication with one or more ofthe devices housed within the instrument case, when one or morethrusters (e.g., thruster 700) are being utilized. The IMU can compriseany suitable device configured to provide one or more data points (e.g.,orientation of system, orientation of tubular members of thruster,orientation of thruster) to a user, ground control software, on-boardsoftware, and/or one or more lighter-than-air units. The informationprovided by the IMU can be utilized by a user, ground control software,and/or on-board software to determine the lighter-than-air systemscurrent orientation and use this information to determine what number ofthrusters are required to be opened, and/or what order to open thethruster valves, to provide a planned descent.

Examples of suitable IMUs include, but are not limited to, IMUs thatcomprise a triple-axis accelerometer, triple-axis gyroscope, and/or atriple-axis magnetometer. While a particular IMU has been described,other IMUs are considered suitable, and skilled artisans will be able toselect a suitable IMU for a particular embodiment based on variousconsiderations, such as the type of thruster being utilized.

Optionally, a spring-loaded lid can be disposed within passageway 719,which has a first closed configuration and a second open configuration.The lid can be adapted to move from the first configuration to thesecond configuration when at least one membrane 706 is perforated. Inaddition, the lid can be adapted to move from the second configurationto the first configuration when a desired amount of fluid (e.g., 25%)remains in the chamber of balloon 723.

FIG. 10 illustrates another lighter-than-air system 800 that is similarto lighter-than-air system 100, except as described herein. Therefore,all of the various elements, components, devices, structuralarrangements, and/or configurations described above with respect to thesystem 100 are applicable to system 800, unless the context indicatesotherwise. The system 800 comprises an airship 802, thruster 870 (e.g.,thruster 700), and an instrument case 890. The airship 802 comprises oneor more fins 803, a first balloon 840, a second balloon 850, and a thirdballoon 860.

The first balloon 840 has a wall that defines a cruise chamber, asdescribed herein. The second balloon 850 has a wall that defines areserve chamber, as described herein. The third balloon 860 has a wallthat defines a spill chamber, as described herein. The second end 871 ofthe fifth tubular member 872 of the thruster 870 is attached within anopening defined by the first balloon 840. The instrument case 890 isattached to a portion of the exterior surface of the thruster 870, suchthat it is disposed below the thruster 870.

The second balloon 850 comprises a structural arrangement (e.g.,circular) that defines an opening 851 through which the first balloon840 is disposed. A friction fit between the first balloon 840 and thesecond balloon 850 can be accomplished by inserting the first balloon840 into the opening 851 of the second balloon and inflating the firstballoon 840 and the second balloon 850. During ascent, drift, and/ordescent, as the fluid within the first balloon 840 is expelled throughthruster 870, or otherwise, the overall size of the first balloon 840will decrease, thereby decreasing the friction fit between the firstballoon 840 and the second balloon 850 and eventually releasing thesecond balloon 850 from the first balloon 840. This advantageouslysoftens the landing of the system 800 by allowing the first balloon 840to provide the landing platform. In addition, this creates a largertarget in the event that the third balloon 860 needs to be utilized tocapture and/or retrieve the system 800. For example, when the firstballoon 840 moves to a deflated, or substantially deflated,configuration, the second balloon 850 having the first end 852 of tether854 attached to the base of the instrument case 890 and the second end853 of tether 854 attached to the second balloon 850, provides lift tothe first balloon 840, thruster 870, and instrument case 890. Whendeflation of the first balloon 840 occurs, the first balloon 840 becomesdetached from the second balloon 850 and the first balloon 840, thruster870, and instrument case 890 invert and allow the first balloon 840 toact as a landing platform.

The third balloon 860 is attached to the first balloon 840 using arelease system 1000, as illustrated in FIG. 11. Any suitable releasesystem can be utilized to releasably attach the third balloon 860 to thefirst balloon 840 and/or second balloon 850 and needs only to provide amechanism to allow for ascent of the system and for providing releasableattachment between the third balloon 860 and the remainder of the system800 during flight. An example system considered suitable includes, butis not limited to, using a release system similar, or identical to,those used on parachutes for deployment. It is considered advantageousto include a third balloon 860 that can be releasably attached to theairship 802 to optionally eliminate the need for including one or moreone-way and/or bi-directional valves disposed within the wall of thethird balloon 860.

The thruster 870 is similar to that described above with respect to FIG.9, except as described below. The second end 871 of the fifth tubularmember 872 is attached to the first balloon 840 such that fluidcontained within the chamber of the first balloon 840 is in fluidcommunication with the passageways defined by the first tubular member,second tubular member, third tubular member, fourth tubular member, andfifth tubular member of the thruster 870. Attachment of the second end871 of the fifth tubular member 872 to the first balloon 840 can beaccomplished in a variety of manners. Examples of methods of attaching atubular member to a balloon include, but are not limited to, using anadhesive, a threaded component, mechanical fasteners, an O-ring, and/orwelding.

The instrument case 890 is attached to the thruster 870. Examples ofmethods of attaching the instrument case 890 to the thruster 870include, but are not limited to, using an adhesive, a threadedcomponent, mechanical fasteners, welding, and/or molding the componentsas an integral unit.

Any of the balloons cruise balloon, reserve balloon, spill balloon) canoptionally include one or more color-coded sections (e.g., quadrants).The material forming the balloon can comprise a specified color or acolor may be added to each section using any suitable method (e.g.,painting). Each section can comprise a different color (e.g., quadrant),or two colors can be provided in adjacent sections. Each section (e.g.,quadrant) can be aligned with the directionality of an opening of athruster (e.g., thruster 700, thruster 870, thruster 970, thruster 1200,thruster 1300, thruster 1500, thruster module 1800) to provide a userwith the ability to discern the orientation of each thruster opening.This is considered advantageous at least because it allows a user todetermine which opening needs to be activated (e.g., by perforating amembrane) to provide desired directionality thrust to a system.

Alternative, or in addition, to including color-coded sectionsquadrants), any of the balloons (e.g., cruise balloon, reserve balloon,spill balloon) can include one or more airfoils positioned along one ormore sections of the balloon. Each of the airfoils can be color-codedand be positioned on a balloon in a section that is aligned with anopening of a thruster. For example, an airfoil can be positioned on eachquadrant of a balloon such that it is aligned with the directionality ofan opening of a thruster (e.g., thruster 700, thruster 870, thruster970, thruster 1200, thruster 1300, thruster 1500, thruster module 1800).The airfoil can have any suitable color coding and structuralconfiguration. For example, each airfoil can comprise a different color(e.g., quadrant), or two colors can be used for adjacent airfoils (e.g.,quadrants). For example, an airfoil can have a first end attached to thetop of the balloon, or a portion near the top of the balloon, and asecond end attached to the bottom of the balloon, or a portion near thebottom of the balloon. Other example structural configurations for anairfoil considered suitable include, but are not limited to, airfoilsthat are flat, or become flat upon the deflation of a balloon, airfoilsthat billow, or billow upon the deflation of a balloon, or airfoilsdisposed at the top, middle, or bottom of a balloon.

FIG. 11 illustrates an exemplary release system 1000 that comprises arelease line 1002, release pin 1004, a first hoop 1006, a second hoop1008, a shaft 1010, and a third hoop 1012. The release line 1002 has anend attached to the release pin 1004. The first hoop 1006 and the secondhoop 1008 are attached to the first balloon 840 by shaft 1010. The shaft1010 defines an aperture that extends through the thickness of the shaft1010 that is adapted to receive a length of release pin 1004. The thirdhoop 1012 is attached to the third balloon 860 and is adapted to receivethe second hoop 1008. In use, the second hoop 1008 is passed through thethird hoop 1012 and the first hoop 1006 is passed through the secondhoop 1008. The release pin 1004 is inserted through the aperture of theshaft 1010 and over or around a portion, or the entirety, of the firsthoop 1006. Thus, a first configuration is described and illustrated inwhich the first balloon 840 is releasably attached to the third balloon860. In a second configuration, the release pin 1004 is pulled out ofthe aperture defined by the shaft 1010 by release line 1002 and thethird balloon 860 becomes free of the first balloon 840.

In the illustrated embodiment, the first end of a tether 861 is attachedto the third balloon 860 and the second end of the tether is attached toa retrieval device 862 (e.g., wench, user, fishing pole). The tether 861is used to guide the system 800 during ascent, or alternatively, thetether 861 is used to guide the system 800 during flight. When a desiredaltitude is reached, release system 1000 can be activated to release thethird balloon 860 from the system 800, this can be accomplished bypulling release line 1002 and removing pin 1004 from the aperture inshaft 1010. The third balloon 860 can then be guided to the ground usingthe tether 861 and the retrieval device 862.

Alternative to using release system 1000, the third balloon 860 can beattached to a portion of the first balloon 840 using one or morehook-and-loop fasteners (e.g., Velcro®), mechanical fasteners, straps,wire, string, adhesive, sonic welds, or any other suitable form ofattachment which can be disengaged upon the application of pressure(e.g., by yanking on the tether 861 connected to the third balloon 860,activating the ground retrieval device 862).

Optionally the system 800 can be retrieved using various methods. Forexample, the third balloon 860 can ascend and be positioned through theopening 851 defined by the second balloon 850, and the system 800subsequently retrieved. In another example, the third balloon 860attached to tether 861 and retrieval device 862, can ascend to crosstether 861 and tether 854 attached at one end to the second balloon 850and at another end to a portion the instrument case 890, and/or anyother component of the system 800 (e.g., thruster 870). To accomplishretrieving the system 800 the third balloon 860 can be launched upwindso that, for example, tether 861 and tether 854 can cross. Subsequently,retrieval device 862 can be activated to tow in the system 800. Afurther option includes adding one or more hooks, mesh material, orother devices, to tether 861 and/or the third balloon 860 to gatherand/or attach tether 861 to tether 854, the third balloon 860 and thesecond balloon 850, and/or any other portion of the system 800 to tether861 and/or the third balloon 860.

Examples of suitable volumes, sizes and shapes for each of the firstballoon 840, second balloon 850, and third balloon 860 include, but arenot limited to, a first balloon 840 having a volume of about 707,700.0cubic centimeters, a diameter of about 110.6 cm, and a spherical shape;a second balloon 850 having a volume of about 303,300 cubic centimeters,a diameter of about 347.45×33.34 cm, and a cylindrical (e.g., donut)shape; and a third balloon 860 having a volume of about 303,300 cubiccentimeters, a diameter of about 347.45×33.34 cm, and a cylindrical(e.g., hook) shape. While particular volumes, sizes, and shapes havebeen described, other volumes, sizes, and shapes are consideredsuitable, and skilled artisans will be able to select a suitable volume,size, and shape based on various considerations, such as the totalweight of the system. For example, the size of each balloon will bedetermined by the amount of fluid introduced into the chamber of theballoon, which is determined based on the total weight of the system.

Optionally, the airship 802 can comprise the third balloon 860 and asingle other balloon which is configured to contain 100% of the neutralbuoyancy of the system.

The tethers described herein (e.g., 841, 861, 2106) can comprise anymaterial that is suitable for purposes set forth herein. Examples ofsuitable materials include, but are not limited to, nylon, polyvinylchloride (PVC), rope, urethane, polyethylene (e.g., Spectra® fiber), andaircraft cable. The length of the tether can vary. Examples of suitablelengths for tethers include, but are not limited to, lengths from about5.0 feet (1.524 meters) to about 200.0 feet (60.96 meters). Additionalexamples of suitable lengths for tethers include, but are not limitedto, lengths from about 9.0 feet (2.743 meters) to about 15.0 feet (4.572meters), and lengths from about 50.0 feet (15.24 meters) to about 150feet (45.72 meters). Another example of a suitable length for a tetherincludes, but is not limited to, a tether with a length of about 750feet (228.60 meters). While particular materials and lengths have beendescribed, any suitable material and/or length can be utilized, andskilled artisans will be able to select a suitable material and lengthfor a tether based on various considerations, such as the desiredlaunching site of a system.

FIG. 12 illustrates another exemplary lighter-than-air system 900, whichis similar to lighter-than-air system 800, except as described.Reference numbers in FIG. 12 refer to the same structural element orfeature referenced by the same number in FIG. 11, offset by 100. Thus,the system 900 comprises an airship 902, a thruster 970, and aninstrument case 990. The airship 902 comprises a first balloon 940, asecond balloon 950, and a third balloon 960.

In the illustrated embodiment, the system 900 includes one or moresheets 908 that are attached to the first balloon 940 and thruster 970.Sheets 908 can be attached to the first balloon 940 and thruster 970using any suitable method of attachment, such as those described herein(e.g., hook and look fasteners, adhesive). Sheets 908 can comprise anysuitable dimensions and be formed of any suitable material, and skilledartisans will be able to select a suitable set of dimensions andmaterial for a sheet based on various considerations, such as thedesired flight path of the system.

Upon the third balloon 960 being removed from the system 900 (e.g., bypulling on tether 961, activating release system 1000), sheets 908 actsas a sail for system 900 by catching wind and providing thrust to thesystem 900. Sheets 908 can be attached at any suitable location toachieve thrust capabilities. It is considered advantageous to attach thesheet 908 at one or more of its corners to the first balloon 940 andthruster 970. While sheets 908 have been described as attached to thefirst balloon 940 and thruster 970, any suitable number of sheets can beattached to any suitable portion of a lighter-than-air system, andskilled artisans will be able to select suitable configuration for asheet based on various considerations, such as the desired amount ofwind to be captured.

FIG. 13 illustrates another exemplary lighter-than-air system 1100,which is similar to lighter-than-air system 800, except as described.Reference numbers in FIG. 13 refer to the same structural element orfeature referenced by the same number in FIG. 11, offset by 300. Thus,the system 1100 comprises an airship 1102, an instrument case 1190, anda thruster 1200. The airship 1102 comprises a first balloon 1140, asecond balloon 1150, and a third balloon 1160. Thruster 1200 is similarto thruster 700, except as described. Reference numbers in FIG. 13 referto the same structural element or feature referenced by the same numberin FIG. 7, offset by 500.

Each of the first balloon 1140, second balloon 1150, and third balloon1160 has an inflated configuration and a deflated configuration. FIG. 13illustrates each of the first balloon 1140, second balloon 1150, andthird balloon 1160 in the inflated configuration. The first balloon 1140has a wall 1142 that defines a cruise chamber 1144 and an opening 1146that extends through the wall 1142 of the first balloon 1140 to provideaccess to cruise chamber 1144. The second balloon 1150 has a wall 1152that defines a reserve chamber 1154 and an opening 1156 that extendsthrough the wall 1152 of the second balloon 1150 to provide access toreserve chamber 1154. The third balloon 1160 has a wall 1162 thatdefines a spill chamber 1164 and an opening 1166 that extends throughthe wall 1162 of the third balloon 1160 to provide access to spillchamber 1164.

In the illustrated embodiment, the second balloon 1150 is disposedwithin the chamber 1144 of the first balloon 1140 and the third balloon1160 is releasably attached to the first balloon 1140. Thruster 1200,also illustrated in FIG. 14, is similar to thruster 700, except thatincludes an additional tubular member 1230 disposed within tubularmember 1205, brackets 1232 that extend from the base of thruster 1200, aplurality of membranes 1206, a plurality of O-rings 1250, and aplurality of perforators 1252. In addition, instrument case 1190 definestracks 1191 on the upper surface 1192 of the instrument case 1190 thatare complementary to brackets 1232. Brackets 1232 provide a mechanismfor removably attaching thruster 1200 to instrument case 1190 by slidingthe brackets 1232 within tracks 1191.

The first end 1220 of tubular member 1205 is attached within the opening1146 defined by the first balloon 1140 such that chamber 1144 andpassageway 1219 are in fluid communication. Tubular member 1230 has afirst end 1236, a second end 1238, and defines a passageway 1240 thatextends between an opening on the first end 1236 and an opening on thesecond end 1238. The first end 1236 of tubular member 1230 is attachedwithin the opening 1156 defined by the second balloon 1150 such thatchamber 1154 and passageway 1240 are in fluid communication. The secondend 1238 is disposed through the wall 1242 of tubular member 1205 andhas a valve 1244 disposed thereon. Thruster 1200 also includes valve1245 that extends through the wall 1242 of tubular member 1205 and is influid communication with chamber 1144. Valves 1244 and 1245 can compriseany valve described herein and can be positioned at any suitablelocation on thruster 1200. Skilled artisans will be able to select asuitable location to position one or more valves on a thruster accordingto a particular embodiment based on various considerations, such as thestructural arrangement of the thruster.

Thus, thruster 1200 comprises a tubular member having a first portion1246 and a second portion 1248. The first portion 1202 defines anopening 1254 in a first plane that is in communication with the chamber1144 of the first balloon 1140. The second portion 1248 defines aplurality of openings 1207, where at least one of the plurality ofopenings 1207 is defined in a second plane different from the firstplane. Optionally, each of the plurality of openings 1207 can be definedin a separate plane that is different from first plane 1255 (e.g., asshown in FIG. 9).

At least one of the plurality of membranes 1206 is disposed over each ofthe plurality of openings 1207 defined on the second portion 1248 of thethruster 1200 using an O-ring 1250. Each of the plurality of membranes1206 is adapted to move from a first configuration in which the membraneseals the opening defined on the second portion 1248 of the thruster1200 to a second configuration in which the membrane allows for fluid topass through the opening defined on the second portion 1248 of thethruster 1200, and/or through the membrane. The term “seals” refers tothe ability of an element to seal, or substantially seal, anotherelement, component, and/or feature.

Each of the plurality of perforators 1252 is in communication with onemembrane of the plurality of membranes 1206. Each of the plurality ofperforators 1252 comprises a mechanism for receiving a signal andproviding current to a length of a conductive material 1260 (e.g., aconductive wire) that is adapted to receive a current and move from afirst configuration in which the length of conductive material is at afirst temperature and a second configuration in which the length ofconductive material is at a second temperature. The second temperaturebeing greater than the first temperature. Thus, a mechanism forperforating each of the plurality of membranes 1206 is described.Alternative to utilizing a length of conductive material, a perforatorcan comprise a servo and a puncturing structure (e.g., pin).

Each of the plurality of perforators 1252 is in communication with oneor more of the devices housed within instrument case 1190 via a firstsignal carrier 1262, a first contact 1264, a second contact 1266, and asecond signal carrier 1268. The first signal carrier 1262 has a firstend in communication with the perforator 1252 and a second end incommunication with the first contact 1264. The first contact 1264 islocated on, and extends through, a portion of bracket 1232. The secondcontact 1266 is located on, and extends through, the roof of instrumentcase 1190. The second signal carrier 1268 has a first end incommunication with the second contact 1266 and a second end incommunication with one or more of the devices housed within instrumentcase 1190 (e.g., circuit board 210, energy storage devices 280).

While a first signal carrier 1262, a first contact 1264, a secondcontact 1266, and a second signal carrier 1268 have been described andillustrated, any suitable number of signal carriers and contacts and anysuitable method of sending a signal to a perforator and activating aperforator are considered suitable, and skilled artisans will be able toselect a suitable number of signal carriers and contacts to include in alighter-than-air system based on various considerations, such as thenumber of membranes included in a thruster. Example number of signalcarriers and contacts considered suitable include but are not limited toone, two, three, four, five, six, and any other suitable number. Anexample alternative method considered suitable to send a signal to aperforator and activating a perforator includes, but is not limited to,omitting the inclusion of a first and second contact and including asingle signal carrier that provides a signal from one or more devicehoused within an instrument case to a perforator. Another example methodconsidered suitable comprises wirelessly sending a signal to aperforator and activating the perforator.

Each of the plurality of perforators 1252 is in communication with oneor more devices within instrument case 1190 such that activation of eachof the perforators can be accomplished by one or more of the deviceshoused within instrument case 1190 receiving a signal from a user,ground control software, onboard software, or otherwise (e.g.,telephonically, through wireless device (e.g., iPad®, iPhone®), network,remotely activated switch). For example, a remotely activated switchharness can be provided which creates circuits to each of theperforators causing each perforator to send a current through a lengthof conductive material upon receipt of a signal. This structuralarrangement advantageously provides a mechanism for providing releasableattachment between the thruster 1200 and instrument case 1190 such thatthe first contact 1264 and the second contact 1266 provide communicationbetween the plurality of perforators 1252 and one or more of the deviceshoused within the instrument case 1190.

Each of the first signal carrier 1262, first contact 1264, secondcontact 1266, and second signal carrier 1268 can be any suitable deviceand/or material that is adapted to carry a signal to and/or from each ofthe plurality of perforators 1252, and skilled artisans will be able toselect a suitable signal carrier based on various considerations, suchas the type of signal to be carried. Example signal carriers consideredsuitable include, but are not limited to, conductive material,conductive wire, coax cable, and the like.

Thruster 1200 can be formed using any suitable method and can define oneor more tubular members with any suitable length, and skilled artisanswill be able to select a suitable method to form thruster and suitablelengths for one or more tubular members according to a particularembodiment based on various considerations, such as the structuralarrangement of an airship. Example methods considered suitable to form athruster include, but are not limited to, forming a thruster out of asingular piece of material using any suitable production method (e.g.,injection molding, rapid molding) and forming a thruster out of multiplepieces of material. Example lengths considered suitable for one or moretubular members includes, but is not limited to, a tubular member (e.g.,1230) that has a first end (e.g., 1236) that extends beyond the firstend (e.g., 1220) of another tubular member (e.g., 1205). Alternatively,each of the tubular members can be formed out of one or more tubularmember segments attached to one another and in fluid communication.

In the illustrated embodiment, third balloon 1160 has a tubular member1168 with a first end disposed within opening 1166 and a second end thathas an attached valve 1170. Valve 1170 has a first configuration inwhich the valve 1170 is closed and prevents, or substantially prevents,fluid flow through the valve and a second configuration in which thevalve 1170 is open and allows fluid to flow through the valve 1170.

Attachment of the tubular members within the openings defined by each ofthe first balloon 1140, second balloon 1150, and third balloon 1160 canbe accomplished using any suitable method of attachment, and skilledartisans will be able to select a suitable method of attachment based onvarious considerations, including the type of material that forms eachof the balloons. Example methods of attachment that are consideredsuitable to attached a tubular member to a balloon include, but are notlimited to, using an adhesive, and welding.

While the balloons have been illustrated and described as being attachedto a tubular member, each of the balloons can be attached to anysuitable device, component, and/or feature using any suitable method ofattachment (e.g., releasable, fixed, permanent) such that fluidcommunication between a balloon (e.g., chamber defined by the wall of aballoon), tubular member, and/or a valve is accomplished. Skilledartisans will be able to select a suitable device, component, and/orfeature and a suitable method of attachment according to a particularembodiment based on various considerations, such as the structuralarrangement of the airship and/or thruster. For example, alternative toattaching the tubular members within an opening defined by the wall of aballoon, one or more of the balloons can have a threaded tubular memberdisposed in an opening defined by the wall of the balloon which providesa mechanism for attaching a balloon to a tubular member, such as thosedescribed herein, having a complimentary threaded tubular member adaptedto receive, or connect to, the threaded tubular member disposed in theopening defined by the balloon. Example methods of attachment consideredsuitable between a balloon and a tubular member, device, component,and/or feature includes, but is not limited to, any of those describedherein, adhesive, a threaded component, mechanical fasteners, an O-ring,welding, and/or a friction fit. For example, a tubular member can defineone or more ridges, tapered ridges, and/or protuberances that areadapted to attached a balloon to the tubular member by sliding theportion of the balloon defining the opening over the one or more ridges,tapered ridges, and/or protuberances.

While brackets 1232 and tracks 1191 have been described as providingreleasable attachment between the thruster 1200 and instrument case1190, any suitable method of attachment between a thruster and aninstrument case is considered suitable. Skilled artisans will be able toselect a suitable method of attachment between a thruster and aninstrument case based on various considerations, such as the structuralarrangement of the airship. An example method of attachment includes,but is not limited to, threaded components (e.g., screws formed of anysuitable material (e.g., plastic, metal)).

In the illustrated embodiment, the lower surface of the instrument case1190 defines a ring 1192 that advantageously provides a mechanism forattaching system 1100 to a ground retrieval device 1194 and anchor 1195in instances were a tethered flight is desired. A length of tether 1193is passed through ring 1192 and a first end of tether 1193 is attachedto ground retrieval device 1194 and a second end of tether 1193 isattached to anchor 1195. Ground retrieval device 1194 can be anysuitable device capable of dispensing and retrieving tether 1193.Example ground retrieval devices considered suitable include, but arenot limited to, those that are adapted to measure the amount of tetherpaid out to airship 1102 and the angle at which the tether 1193 isdisposed to determine the altitude of airship 1102. When a length oftether 1193 is dispensed by ground retrieval device 1194 the system 1100will ascend, if the system 1100 has positive buoyancy, at an angle fromanchor 1195. When a length of tether 1193 is retrieved by groundretrieval device 1194 the system 1100 will descend at an angle from theanchor 1195. The altitude of the system 1000 can be altered based on thedistance between the ground retrieval device 1194 and anchor 1195. Forexample, if a first distance is defined between the ground retrievaldevice 1194 and the anchor 1195, the system 1100 will have a firstaltitude. If a second distance, which is less than the first distance,is defined between the ground retrieval device 1194 and the anchor 1195,the system 1100 will have a second altitude, which is greater than thefirst altitude, and vice versa. It is considered advantageous to utilizea ground retrieval device 1194 and anchor 1195 to allow the system 1100to ascend and avoid low lying objects and to provide a beginning groundtruth (e.g., initial altitude). Optionally, one or more ground retrievaldevices that are in communication with a user, ground control software,and/or on-board software can be attached to a lighter-than-air systemand utilized to position a lighter-than-air system over a point ofinterest such that one or more images can be obtained. Such positioningcan be predetermined based upon the desired image intended to beobtained. The placement of each of the ground retrieval devices (e.g.,on four rooftops) provides a mechanism for the lighter-than-air systemto be limited to a particular area, or zone, and the air current andweather conditions provide a mechanism for providing different points ofview during flight.

Optionally, ground retrieval device 1194 can include a tension meter tocalculate the buoyancy and/or forces being placed on the system.Optionally, system 1100 can include a skeg attached to the base ofinstrument case 1190 or airship 1102 to provide a mechanism forimproving directional stability of system 1000 during flight, and toabsorb and/or deflect landing forces.

FIG. 15 illustrates an exemplary thruster 1300, which is similar tothruster 1200, except as described. Reference numbers in FIG. 15 referto the same structural element or feature referenced by the same numberin FIG. 13, offset by 100. Thus, thruster 1300 comprises a first tubularmember 1301, second tubular member 1302, third tubular member 1303,fourth tubular member 1304, fifth tubular member 1305, and sixth tubularmember 1330.

In the illustrated embodiment, the first end of each of the firsttubular member 1301, second tubular member 1302, third tubular member1303, and fourth tubular member 1304 define a curved surface 1370 whichadvantageously provides a mechanism for wrapping a membrane (not shown)over each opening of the first tubular member 1301, second tubularmember 1302, third tubular member 1303, and fourth tubular member 1304.In addition, the curved surface 1370 is considered advantageous at leastbecause it provides a mechanism for attaching a membrane to the thruster1300 via an O-ring.

In addition, in the illustrated embodiment, valve 1344 and valve 1345are disposed at a 90 degree, or substantially 90 degree, angle to oneanother, as compared to valve 1244 and valve 1245 shown in FIG. 13 whichare opposed to one another and are disposed at a 180 degree, orsubstantially 180 degree, angle to one another.

FIGS. 16, 17, 18, 19, 20, 21, 22, 23, 24, and 25 illustrate anotherexemplary lighter-than-air system 1400, which is similar tolighter-than-air system 1100, except as described. The system 1400comprises an airship 1402, thruster 1500, airfoil module 1700, thrustmodule 1800, and an instrument case 1900. Lighter-than-air system 1400is considered advantageous because it provides a mechanism forincorporating one or more modules, each having its own function, into alighter-than-air system, as described in more detail herein.

While particular modules, each having particular features, structuralarrangements, and/or functions, have been illustrated and described, alighter-than-air system can include any suitable number of modules,having any suitable feature, structural arrangement, and/or function.Skilled artisans will be able to select a suitable number of modules,and suitable features, structural arrangements, and/or functions for amodule according to a particular embodiment based on variousconsiderations, including the desired function of a lighter-than-airsystem. Example number of modules to include in a lighter-than-airsystem include, but are not limited to, one, at least one, two, aplurality, three, four, five, six, and any other number consideredsuitable for a particular application. Example functions consideredsuitable for a module to accomplish include, but are not limited to,meteorological modules that include one or more meteorological sensors,such as those described herein, altitude control modules that includeone or more sensing devices, such as those described herein, airfoilmodules that include one or more airfoils, such as those describedherein, thrust modules that include one or more thrusters, such as thosedescribed herein, and any other function considered suitable for aparticular application.

In the illustrated embodiment, airship 1402 is attached to thruster1500, airfoil module 1700 is attached to thruster 1500, thrust module1800 is attached to airfoil module 1700, and instrument case 1900 isattached to thrust module 1800.

While a particular configuration of the lighter-than-air system has beenillustrated and described, a lighter-than-air system can be arranged inany suitable configuration, and skilled artisans will be able to selecta suitable configuration for a lighter-than-air system according to aparticular embodiment based on various considerations, including thedesired flight path of the lighter-than-air system. Exampleconfigurations considered suitable for a lighter-than-air systeminclude, but are not limited to, omitting the thrust module, omittingthe airfoil module, attaching a the thrust module to the thruster,attaching the airfoil module to the thrust module, attaching theinstrument case to the airfoil module, and any other configurationconsidered suitable for a particular application.

Any suitable method of attachment can be used between an airship 1402,thruster 1500, airfoil module 1700, thrust module 1800, and/orinstrument case 1900, and skilled artisans will be able to select asuitable method of attachment according to a particular embodiment basedon various considerations, including the material forming an airship,thruster, and/or module. Example methods of attachment consideredsuitable between an airship, thruster, airfoil module, thrust module,and/or instrument case include, but are not limited to, releasableattachments, threaded components, mechanical fasteners, friction fit,snap fit, fixed attachments, welding, using an adhesive, forming one ormore components as an integral unit, and any other method of attachmentconsidered suitable for a particular application.

The airship 1402 comprises a first balloon 1440 and a second balloon1450 disposed within the first balloon 1440. Each of the first balloon1440 and second balloon 1450 has an inflated configuration and adeflated configuration. FIGS. 16, 17, and 18 illustrate the firstballoon 1440 in the inflated configuration and FIG. 18 illustrates thesecond balloon 1450 in the inflated configuration. The first balloon1440 has a first balloon wall 1442 that defines a first balloon chamber1444 and a first balloon opening 1446 that extends through first balloonwall 1442 and provides access to first balloon chamber 1444. The secondballoon 1450 has a second balloon wall 1452 that defines a secondballoon chamber 1454 and a second balloon opening 1456 that extendsthrough second balloon wall 1452 and provides access to second balloonchamber 1454. Each of the first balloon 1440 and second balloon 1450 isin communication with thruster 1500, as described in more detail below.

In the illustrated embodiment of FIGS. 16 through 25, first balloon 1440is attached to thruster 1500 by tubular member 1460, and second balloon1450 is attached to thruster 1500 by tubular member 1470. First balloon1440 is attached to tubular member 1460 using any suitable method ofattachment (e.g., adhesive), and second balloon 1450 is attached totubular member 1470 using any suitable method of attachment (e.g.,adhesive).

First balloon chamber 1444 is configured to receive and contain a volumeof fluid sufficient to offset any suitable portion, or the entirety, ofthe weight of lighter-than-air system 1400. Example volumes of fluidconsidered suitable to include in a first balloon chamber 1444 include,but are not limited to, volumes of fluid sufficient to offset betweenabout 1% to about 100% of the weight of lighter-than-air system 1400,10% to about 50% of the weight of lighter-than-air system 1400, and anyother volume of fluid considered suitable for a particular application.Second balloon chamber 1454 is configured to receive and contain avolume of fluid sufficient to offset any suitable portion, or theentirety, of the weight of lighter-than-air system 1400. Example volumesof fluid considered suitable to include in a second balloon chamber 1454include, but are not limited to, volumes of fluid sufficient to offsetbetween about 1% to about 100% of the weight of lighter-than-air system1400, 50% to about 90% of the weight of lighter-than-air system 1400,and any other volume of fluid considered suitable for a particularapplication.

First balloon 1440 and second balloon 1450 can be formed of any suitablematerial and have any suitable structural configuration, and skilledartisans will be able to select a suitable material and/or structuralarrangement for a balloon according to a particular embodiment based onvarious considerations, including the structural configuration of athruster. For example, first balloon 1440 can be formed of a materialthat is solid, or substantially solid, and second balloon 1450 can beformed of a flexible, or substantially flexible material (e.g.,biaxially-oriented polyethylene terephthalate (Mylar®), latex) relativeto the first balloon 1440. This configuration is considered advantageousat least because it provides a mechanism for structurally arrangingfirst balloon 1440 such that it can act as a sail and provides amechanism that provides for more predictable compression and lift forceof fluid within the first balloon 1440 and second balloon 1450 ascompared to a lighter-than-air system that does not include a firstballoon formed of a solid, or substantially solid material. It isconsidered advantageous for first balloon 1440 to be adapted to have aninflated outside diameter of about 7 feet (2.1336 meters) and for secondballoon 1450 to be adapted to have an inflated outside diameter betweenabout 2 feet (0.6096 meters) and about 3 feet (0.9144 meters).

The illustrated thruster 1500 comprises a thruster body 1502 thatdefines a first passageway 1504, second passageway 1506 and has acontainer 1508, first valve 1510, second valve 1512, third valve 1514,fourth valve 1516, first servo 1518, and second servo 1520.

The illustrated thruster body 1502 defines a first cavity 1522, secondcavity 1524, first opening 1526, second opening 1528, and a crossbar1530 that extends across second opening 1528. Each of the first cavity1522 and second cavity 1524 extends into thruster body 1502. Firstcavity 1522 extends into thruster body 1502 on a side opposably facing,or substantially opposably facing, second cavity 1524. First opening1526 extends through thruster body 1502 and provides access to firstcavity 1522. First balloon 1440 is attached to thruster body 1502 bytubular member 1460 such that first balloon chamber 1444 is incommunication with first cavity 1522. Second balloon 1450 is attached tothruster body 1502 by tubular member 1470 such that second balloonchamber 1450 is in communication with first passageway 1521. Anysuitable method of attachment is considered suitable between tubularmember 1460 and thruster 1500 and tubular member 1470 and thruster 1500,and skilled artisans will be able to select a suitable method ofattachment based on various considerations, including the materialforming a tubular member and/or thruster. Example methods of attachmentconsidered suitable between a tubular member and an thruster include,but are not limited to, releasable attachments, threaded components,mechanical fasteners, friction fit, snap fit, defining a barbed end(e.g., illustrated in FIG. 21), fixed attachments, welding, using anadhesive, forming one or more components as an integral unit, and anyother method of attachment considered suitable for a particularapplication.

First passageway 1504 extends through thruster body 1502 such thatthruster body 1502 defines a first passageway first end 1532, barbedfirst passageway second end 1534, first passageway first opening 1536,and a first passageway second opening 1538. First passageway firstopening 1536 is in communication with the environment exterior to thefirst cavity 1522 and a first passageway second opening 1538 incommunication with second balloon chamber 1454. Thus, second balloon1450 is attached to thruster 1500 such that second balloon chamber 1454is in communication with first passageway 1504.

Second passageway 1506 extends through thruster body 1502 such thatthruster body 1502 defines a second passageway first end 1548, secondpassageway second end 1550, second passageway first opening 1554, and asecond passageway second opening 1556. Second passageway 1506 passagewayhas a first portion 1558, second portion 1560, and a third portion 1562.The second portion 1560 is disposed between the first portion 1558 andthe third portion 1562. The first portion 1558 has a first diameter, thesecond portion 1560 has a second diameter, and the third portion 1562has a third diameter. The second diameter is greater than the firstdiameter and the third diameter. Second tubular member first opening1554 is in communication with the environment exterior to the firstcavity 1522 and a second tubular member second opening 1556 incommunication with the container chamber 1566, as described in moredetail herein. Thus, container 1508 is attached to thruster 1500 suchthat container chamber 1566 is in communication with second passageway1506.

Container 1508 is attached to second passageway second end 1550 and hasa container wall 1564 that defines a container chamber 1566 and acontainer opening 1568 that provides access to container chamber 1566.Container 1508 can comprise any suitable structure capable of storingmaterial and/or fluid, can have any suitable structural arrangement, andbe formed of any suitable material. Skilled artisans will be able toselect a suitable structure, structural arrangement, and material for acontainer according to a particular embodiment based on variousconsiderations, including the materials forming a thruster body. It isconsidered advantageous for container 1508 to be attached to thruster1500 using mating threaded connections and an O-ring, or other suitablesealing member, to decrease the likelihood of fluid contained within thecontainer chamber 1566 from escaping. It considered suitable forcontainer 1508 to be disposed within first cavity 1522 at least becausethis configuration positions the weight of the container 1508 and theweight of the material within container chamber 1566 near, or close to,the center of gravity of lighter-than-air system 1400.

Any suitable material can be stored and/or introduced into containerchamber 1566, and skilled artisans will be able to select a suitablematerial to store and/or introduce into a container chamber according toa particular embodiment based on various considerations, including thelift desired to be achieved when the material is released from thecontainer chamber. Example materials considered suitable to store and/orintroduce into a container chamber include, but are not limited to,liquid materials, water, solid materials, beads, lead pellets, and anyother material considered suitable for a particular application.

Each of the thruster body 1502 and/or container 1508 can be separatecomponents attached to one another using any suitable method orattachment, or can be an integral unit. Each of the thruster body 1502and/or container 1508 can be formed using any suitable method ofmanufacture and using any suitable material. Skilled artisans will beable to select a suitable method of manufacture and material to form athruster body and/or container according to a particular embodimentbased on various considerations, including the material(s) forming othercomponents of a lighter-than-air system. Example materials consideredsuitable include, metals, polymers, and any other material consideredsuitable for a particular application. Example techniques consideredsuitable to form a thruster and/or container include, but are notlimited to, extrusion processes, molding processes, and any othertechnique considered suitable for a particular application. Alternativeto thruster body 1502 defining first passageway 1504 and secondpassageway 1506, a thruster can include a first tubular member andsecond tubular member attach to a thruster wall, each defining apassageway.

While each of the thruster body 1502, and container 1508 have beenillustrated and described as having particular structural arrangements,a thruster body and container can have any suitable structuralarrangement. Skilled artisans will be able to select a suitablestructural arrangement for a thruster body and/or container according toa particular embodiment based on various considerations, including thematerial(s) forming each component.

Various exemplary valves are illustrated and described herein withrespect to first valve 1510, second valve 1512, third valve 1514, andfourth valve 1516, however, these exemplary valve embodiments are merelyexamples of suitable valves. Each of the first valve 1510, second valve1512, third valve 1514, and fourth valve 1516 can comprise any suitablestructure capable of passing a fluid in a first direction through thevalve, passing a fluid in a second direction, opposite that of the firstdirection, through the valve, and/or preventing fluid from being passedthrough the valve. Skilled artisans will be able to select a suitablevalve to include with a lighter-than-air system, according to aparticular embodiment based on various considerations, including thematerial forming the lighter-than-air system.

In the illustrated embodiment, first valve 1510 is disposed in firstopening 1526 such that first valve 1510 is in communication with firstcavity 1522. It is considered advantageous for first valve 1510 to beadapted to introduce fluid through first valve 1510 and into firstballoon chamber 1444, hold fluid within first balloon chamber 1444, andremove fluid within first balloon chamber 1444. First valve 1510 cancomprise any suitable valve, such as those described herein.

In the illustrated embodiment, second valve 1512 comprises a cap 1570hingedly attached to first passageway first end 1532. Cap 1570 isadapted to move between a first configuration and a secondconfiguration, as shown in hidden lines. In the first configuration, cap1570 is disposed over first passageway first opening 1536 and holdsfluid contained within second balloon chamber 1454. In the secondconfiguration, cap 1570 is disposed at an angle to first passagewayfirst opening 1536 such that fluid contained within second balloonchamber 1454 can pass through first passageway 1504 and into theenvironment exterior to first passageway 1504.

Movement of cap 1570 between the first configuration and secondconfiguration can be accomplished using any suitable method orstructural arrangement. In the illustrated embodiment, movement of cap1570 between the first configuration and the second configuration isaccomplished using a wire member 1572 having a wire member first end1574 attached to a portion of cap 1570 and a wire member second end 1576attached to first servo 1518 disposed within second cavity 1524. Firstservo 1518 is in communication with one or more devices housed withininstrument case 1900 (e.g., using a signal carrier, wirelessly) and isadapted to move between a first configuration and a second configurationupon the receipt of a signal from the one or more devices housed withininstrument case 1900, or one or more devices in communication with oneor more devices housed within instrument case 1900. When first servo1518 is in the first configuration, cap 1570 is in the firstconfiguration. When first servo 1518 is in the second configuration,wire member 1572 is pulled taught and cap 1570 is moved to its secondconfiguration. Alternatively, movement of cap 1570 between the firstconfiguration and second configuration can be accomplished using themomentum of anchor 2018 being released from lighter-than-air system1400, as described in more detail herein. For example, a wire member(e.g., wire member 2016) can be attached to a cap (e.g., 1570) such thatupon the release of an anchor attached to the wire member (e.g., anchor2018), cap 1570 moves from its first configuration to its secondconfiguration.

In the illustrated embodiment of FIGS. 16 through 25, third valve 1514comprises a plug 1578, wire member 1580, and spring 1582. Plug 1578 hasa tapered configuration and is disposed within second portion 1560 ofsecond passageway 1506. Wire member 1580 has a wire member first end1584 attached to plug 1578 and a wire member second end 1586 attached tosecond servo 1520 disposed within second cavity 1524. Spring 1582 isdisposed between plug 1578 and third portion 1562 of second passageway1506.

Plug 1578 is adapted to move between a first configuration and a secondconfiguration. In the first configuration, plug 1578 seals, orsubstantially seals, second passageway 1506. In the secondconfiguration, plug 1578 allows fluid to pass through second passageway1506. Second servo 1520 is in communication with one or more deviceshoused within instrument case 1900 (e.g., using a signal carrier,wirelessly) and is adapted to move between a first configuration, secondconfiguration, and a third configuration upon the receipt of a signalfrom the one or more devices housed within instrument case 1900, or oneor more devices in communication with one or more devices housed withininstrument case 1900. When second servo 1520 is in the firstconfiguration or second configuration, plug 1578 is in the firstconfiguration. When second servo 1520 is in the third configuration,wire member 1580 is pulled taught and plug 1578 is moved to its secondconfiguration. Spring 1582 is biased such that when second servo 1520 isin the first configuration or second configuration, plug 1578 returns toits first configuration.

In the illustrated embodiment of FIGS. 16 through 25, fourth valve 1516comprises a plug 1588, wire member 1590, and spring 1592. Plug 1588 hasa tapered configuration and is disposed within second opening 1528 suchthat the large end of plug 1588 is disposed between thruster body 1502and crossbar 1530. Wire member 1590 has a wire member first end 1594attached to plug 1588 and a wire member second end 1596 attached tosecond servo 1520. Spring 1592 is disposed between plug 1588 andcrossbar 1530.

Plug 1588 is adapted to move between a first configuration and a secondconfiguration. In the first configuration, plug 1588 seals, orsubstantially seals, second opening 1528. In the second configuration,plug 1588 allows fluid to pass through second opening 1528. When secondservo 1520 is in the second configuration, wire member 1590 is pulledtaught and plug 1588 is moved to its second configuration. When secondservo 1520 is in the first configuration and/or third configuration,plug is in the first configuration. Spring 1592 is biased such that whensecond servo is in the first configuration or third configuration, plug1588 is in its first configuration.

While second valve 1512, third valve 1514, and fourth valve 1516 havebeen illustrated and described as being actuated by a first servo 1518and/or second servo 1520, any suitable structure and/or mechanismcapable of actuating a valve is considered suitable, and skilledartisans will be able to select a suitable structure and/or mechanism toactuate a valve according to a particular embodiment based on variousconsiderations, including the type of valve being actuated. Examplestructures and/or mechanisms considered suitable include, but are notlimited to, those described herein, electronic switches, mechanicalswitches, linear actuators, and any other structure and/or mechanismconsidered suitable for a particular application.

Alternative to including a first valve 1510, second valve 1512, thirdvalve 1514, and fourth valve 1516 as illustrated and described, a valvecan comprise a bi-directional valve in communication with one or moredevices housed within an instrument case. The bi-directional valve canbe adapted to introduce fluid into, hold fluid within, and remove fluidfrom a chamber or other space upon the receipt of a signal from a user,ground control software, and/or on-board software. This is consideredadvantageous at least because it provides a mechanism for introducing afluid into a chamber subsequent to the chamber being emptied of a fluidsuch that the newly reintroduced fluid can be used for thrust purposes.Alternatively, a pump can be incorporated into any portion of alighter-than-air system, separate from, or in combination with, a valve,such that a fluid can be introduced into a chamber before, during, orsubsequent to flight.

Optionally, each of the first valve 1510, second valve 1512, third valve1514, and fourth valve 1516 can be activated by a user, ground controlsoftware, onboard-software at any suitable time during flight. Forexample, a user can activate the first valve 1510, second valve 1512,third valve 1514, and/or fourth valve 1516 upon directly visualizinglighter-than-air system 1400 and determining that adjustments toaltitude, buoyancy, and/or directionality are necessary (e.g., tomaintain a flight path). Alternatively, ground control software and/oron-board software can activate the first valve 1510, second valve 1512,third valve 1514, and/or fourth valve 1516 when adjustments to altitude,buoyancy, and/or directionality are necessary to maintain a flight path.For example, if during flight one or more devices housed withininstrument case 1900 (e.g., barometric altimeter, GPS, IMU), or one ormore devices in communication with the one or more devices housed withinthe instrument case 1900, provide data to a user, ground controlsoftware, and/or on-board software that indicates that an altitude,buoyancy, and/or directionality adjustment is necessary to maintain aflight path, a user, ground control software, and/or on-board softwarecan activate the first valve 1510, second valve 1512, third valve 1514,and/or fourth valve 1516 to adjust the flight path.

In use, when lighter-than-air system 1400 is in flight and first balloonchamber 1444 and second balloon chamber 1454 each contain a fluid andcontainer chamber 1566 contains a material, each of the first servo 1518and second servo 1520 can be activated by a user, ground controlsoftware, and/or on-board software, as described in more detail herein,for maintaining and/or adjusting the altitude of lighter-than-air system1400. For example, when descent of the lighter-than-air system 1400 isdesired, first servo 1518 can be activated such that fluid is releasedfrom second balloon chamber 1454. Alternatively, when descent oflighter-than-air system 1400 is desired, second servo 1520 can beactivated such that fluid is released from first balloon chamber 1444.When ascent of lighter-than-air system 1400 is desired, second servo1520 can be activated such that the material stored within containerchamber 1566 is released and the total weight of lighter-than-air system1400 is reduced resulting in lift of the lighter-than-air system 1400.The extent of ascent and/or descent can be controlled based on thediameter of each passageway define by the tubular members and/or by thelength of time a valve is disposed in the open configuration, which canbe preset by a user, ground control software, and/or on-board software.In embodiments that utilize pellets contained within container chamber1566, fourth valve 1516 can be configured such that when it is moved tothe open configuration, a single pellet is removed from containerchamber 1566 at a time, resulting in a controlled ascent.

FIG. 23 illustrates the airfoil module 1700 free of the lighter-than-airsystem 1400. Airfoil module 1700 comprises a base 1702, first airfoil1704, second airfoil 1706, elongate member 1708, third airfoil 1710, andfourth airfoil 1712.

In the illustrated embodiment of FIGS. 16 through 25, base 1702comprises a base body 1714, first side 1716, second side 1718, thirdside 1720, and defines a first cavity 1722 and a second cavity 1724.First side 1716 is opposably facing, or substantially opposable facing,second side 1718. Third side 1720 is orthogonal, or substantiallyorthogonal, to first side 1716. First cavity 1722 extends into base body1714 on a side opposably facing, or substantially opposably facing,second cavity 1724.

First airfoil 1704 extends outward and away from base body 1714 fromfirst side 1716. Second airfoil 1706 extends outward and away from basebody 1714 from second side 1718. Elongate member 1708 extends outwardand away from base body 1714 from third side 1720. Each of the thirdairfoil 1710 and fourth airfoil 1712 extends outward and away fromelongate member 1708. Fourth airfoil 1712 is disposed orthogonal, orsubstantially orthogonal, to third airfoil 1710. Optionally, elongatemember 1708, third airfoil 1710, and fourth airfoil 1712 can be omitted.

Each of the first airfoil 1704, second airfoil 1706, third airfoil 1710,and fourth airfoil 1712 can comprise any suitable structuralarrangement, and skilled artisans will be able to select a suitablestructural arrangement for an airfoil according to a particularembodiment based on various considerations, including the materialforming a thruster. Example structural configurations consideredsuitable for an airfoil include, but are not limited to, structurescapable of providing lift as the airfoil travels through a fluid (e.g.,air), structures capable of maintaining course while traveling through afluid (e.g., air), structures with a shape and/or orientation thatcontrol stability, direction, thrust, lift, and/or propulsion, and anyother structure considered suitable for a particular application.

Base 1702, first airfoil 1704, second airfoil 1706, elongate member1708, third airfoil 1710, and fourth airfoil 1712 can be manufacturedusing any suitable technique and can be formed of any suitable material.Skilled artisans will be able to select a suitable technique to form abase, airfoil, and/or elongate member and a suitable material to form abase, airfoil, and/or elongate member according to a particularembodiment based on various considerations, including the desiredstructural configuration of an airfoil module. Example materialsconsidered suitable include, metals, polymers, and any other materialconsidered suitable for a particular application. Example techniquesconsidered suitable to form a base, airfoil, and/or elongate memberinclude, but are not limited to, extrusion processes, molding processes,and any other technique considered suitable for a particularapplication.

It is considered advantageous for first airfoil 1704 and/or secondairfoil 1706 to be rotatably attached to base 1702 such that adjustmentsof flight path of the lighter-than-air system 1400 can be made duringflight. It is considered advantageous for third airfoil 1710 and/orfourth airfoil 1712 to be rotatably attached to elongate member 1708such that adjustments of flight path of the lighter-than-air system 1400can be made during flight. Adjustments to the position of an airfoil canbe accomplished by attaching the airfoil to a servo disposed withinsecond cavity 1724 that is in communication with one or more deviceshoused within instrument case 1900 (e.g., using a signal carrier,wirelessly).

FIG. 24 illustrates the thrust module 1800 free of the lighter-than-airsystem 1400. The illustrated thrust module 1800 comprises a base 1802,first thrust component 1804, and a second thrust component 1806.

In the illustrated embodiment of FIGS. 16 through 25, base 1802comprises a base body 1808, first side 1810, second side 1812, anddefines a cavity 1814 and a second cavity 1816. First side 1810 isopposably facing, or substantially opposable facing, second side 1812.First cavity 1814 extends into base body 1808 on a side opposablyfacing, or substantially opposably facing, second cavity 1816.

Each of the first thrust component 1804 and second thrust component 1806can comprise any suitable structure capable of providing thrust to alighter-than-air system, and skilled artisans will be able to select asuitable structure for a thrust component according to a particularembodiment based on various considerations, including the materialforming a lighter-than-air system. Example structures consideredsuitable include, but are not limited to, structures capable ofproviding thrust, fans, ducted fans, compressed fluid cartridges (e.g.,CO₂ cartridges, pressurized cartridges), compressed fluid thrust valves,propellers, engines, motors, and any other structure considered suitablefor a particular application.

In the illustrated embodiment of FIGS. 16 through 25, each of the firstthrust component 1804 and second thrust component 1806 comprises a duct1818, fan 1820, and a motor (not shown). The duct 1818 defines apassageway 1824 in which each of the fan 1820 and motor is disposed.First thrust component 1804 is rotatably attached to first side 1810 anda second thrust component 1806 is rotatably attached to second side1812. It is considered advantageous for first thrust component 1806 andsecond thrust component 1810 to be rotatably attached to base 1802 suchthat adjustments of the flight path of the lighter-than-air system 1400can be made during flight. Each of the first thrust component 1804 andsecond thrust component 1806 is operatively attached to one or moreservos disposed within second cavity 1816 such that the directionalityof each of the first thrust component 1804 and second thrust component1806 can be adjusted before, during, or after flight. Each of the one ormore servos disposed within second cavity 1816 is in communication toone or more devices housed within instrument case 1900 (e.g., using asignal carrier, wirelessly).

Base 1802, first thrust component 1804, and second thrust component 1806can be manufactured using any suitable technique and can be formed ofany suitable material. Skilled artisans will be able to select asuitable technique to form a base and/or thrust component and a suitablematerial to form a base and/or thrust component according to aparticular embodiment based on various considerations, including thedesired structural configuration of a thrust module. Example materialsconsidered suitable include, metals, polymers, and any other materialconsidered suitable for a particular application.

While thrust module 1800 has been illustrated and described as includinga first thrust component 1804 and a second thrust component 1804, anysuitable number of thrust components having any suitable structuralconfiguration can be included in a lighter-than-air system, and skilledartisans will be able to select a suitable number of thrust componentsand a suitable structural configuration for a thrust component accordingto a particular embodiment based on various considerations, includingthe desired thrust and/or movement desired to be achieved. Examplenumber of thrust components considered suitable to include in alighter-than-air system include, but are not limited to, one, at leastone, two, a plurality, three, four, five, and any other numberconsidered suitable for a particular application. For example, a thrustmodule can include four fans fixed to the base of a thrust module. Thefirst fan disposed such that the thrust formed by the first fan isdisposed in a first direction. The second fan disposed such that thethrust formed by the second fan is disposed in a second directionopposite, or substantially opposite, the directionality of the thrustformed by first fan. Each of the first direction and second direction iscontained on a first plane. The third fan disposed such that the thrustformed by the third fan is disposed in a third direction that isorthogonal, or substantially orthogonal, to the second direction and iscontained on a second plane disposed orthogonal, or substantiallyorthogonal, to the first plane. The fourth fan disposed such that thethrust formed by the fourth fan is disposed in a fourth direction thatis contained on the second plane and disposed opposite, or substantiallyopposite, the third direction.

FIG. 25 illustrates the instrument case 1900 free of thelighter-than-air system 1400. Instrument case 1900 is similar toinstrument case 200 illustrated and described with respect to FIG. 3,except as described below. Reference numbers in FIG. 20 refer to thesame structural element or feature referenced by the same number in FIG.3, offset by 1700. Thus, instrument case 1900 comprises a housing 1902that houses a circuit board 1910, one or more observation devices 1920,one or more sensing devices 1930, one or more location devices 1940, oneor more computational devices 1950, one or more communication devices1960, one or more storage devices 1970, and/or one or more energystorage devices 1980.

In the illustrated embodiment of FIGS. 16 through 25, instrument case1900 includes an anchor module 2000 that is attached to housing 1902.Anchor module 2000 comprises a housing 2002, servo 2004, elongate member2006, first gear 2008, second elongate member 2010, second gear 2012,spool 2014, wire member 2016, and anchor 2018. Alternatively, whenanchor module 2000 is not included, instrument case 1900 can include acap that is attached to the opening of cavity defined by housing 1902.

Housing 2002 defines a cavity 2020 and is adapted to be attached tohousing 1902. Any suitable method of attachment between a housing andanchor module is considered suitable, and skilled artisans will be ableto select a suitable method of attachment according to a particularembodiment based on various considerations, including the materialsforming an instrument case housing and an anchor module housing. Examplemethods of attachment considered suitable include, but are not limitedto, releasable attachments (e.g., friction fit, snap fit), fixedattachments (e.g., adhesive), and any other method of attachmentconsidered suitable for a particular application. Alternatively, thefeatures and components described as disposed and/or including in ananchor module can be included within and/or disposed within aninstrument case housing or an anchor module can be an integratedcomponent of an instrument case.

Servo 2004 is in communication with one or more devices housed withininstrument case 1900 (e.g., using a signal carrier, wirelessly).Elongate member 2006 and first gear 2008 are each operatively connectedto servo 2004 such that upon activation of servo 2004 elongate member2006 rotates about its lengthwise axis, which results in rotation offirst gear 2008 about the lengthwise axis of elongate member 2006. Servo2004 is adapted to move between a static configuration and either afirst dynamic configuration in which servo 2004 rotates elongate member2006 about its lengthwise axis in a first direction or a second dynamicconfiguration in which servo 2004 rotates elongate member 2006 about itslengthwise axis in a second direction opposite the first direction.

Second elongate member 2010 is rotatably attached to housing 2002.Second gear 2012 and spool 2014 are each attached to second elongatemember 2010. Wire member 2016 has a first end attached to spool 2014 anda second end attached to anchor 2018. Second gear 2012 is adapted tohave a structural configuration that compliments the structuralconfiguration of first gear 2008 and is adapted to interact with firstgear 2008 such that movement of servo 2004 between the firstconfiguration, second configuration, and third configuration, results inmovement of the second elongate member 2010, second gear 2012, spool2014, wire member 2016, and anchor 2018. Thus, a mechanism forretrieving and releasing anchor 2018 is described.

While a particular structural arrangement has been illustrated anddescribed as providing a mechanism for retrieving and releasing ananchor, any suitable structural arrangement is considered suitable.Skilled artisans will be able to select a suitable structuralarrangement to retrieve and release an anchor according to a particularembodiment based on various considerations, including the structuralarrangement of an instrument case.

Wire member 2016 can have any suitable length and be formed of anysuitable material, and skilled artisans will be able to select asuitable length and material to form a wire member according to aparticular embodiment based on various considerations, including thedesired hovering height of a lighter-than-air system when a portion ofthe lighter-than-air system is in contact with a surface. Examplelengths for a wire member considered suitable include, but are notlimited to, lengths greater than 50 feet (15.24 meters), lengths lessthan 50 feet (15.24 meters), lengths between about 1 foot (0.3048) toabout 50 feet (15.24 meters), lengths between about 10 feet (3.048meters) and about 20 feet (6.096 meters), and any other lengthconsidered suitable for a particular application. Example materialsconsidered suitable to form a wire member include, but are not limitedto, metals, polymers, nylon, polyvinyl chloride (PVC), rope, urethane,polyethylene (e.g., Spectra® fiber), aircraft cable, and any othermaterial considered suitable for a particular application.

Anchor 2018 can have any suitable weight and structural configuration,and skilled artisans will be able to select a suitable weight andstructural configuration for an anchor according to a particularembodiment based on various considerations, including the desired flightpath and/or time. Example structural configurations considered suitableinclude, but are not limited to, geometric structural configurations,spherical structural configurations (e.g., tennis ball), rectangularstructural configurations, fluke structural configurations, and anyother structural configuration considered suitable for a particularapplication. Example weights considered suitable for an anchor include,but are not limited to, about 1 gram to about 100 grams, about 25 gramsto about 80 grams, about 50 grams to about 60 grams, and any otherweight considered suitable for a particular application. It isconsidered advantageous for anchor 2018 to be buoyant, or formed of abuoyant material.

It is considered advantageous for the weight of wire member 2016 and/oranchor 2018 to offset, or substantially offset, the amount lift forceprovided by the fluid disposed within second balloon chamber 1454. Thus,when the lighter-than-air system 1400 has a total weight and isneutrally buoyant and first servo 1518 is activated and opens cap 1570,fluid stored within second balloon chamber 1454 is released andlighter-than-air system 1400 descends. In addition, servo 2004 can beactivated to release wire member 2016 such that anchor 2018 descendsfrom instrument case 1900. The downward force in this example is equalto, or substantially equal to, the weight of wire member 2016 and/oranchor 2018 less the drag of the lighter-than-air system 1400. Onceanchor 2018 contacts a landing surface, its weight is subtracted fromthe total weight of lighter-than-air system 1400 such that neutralbuoyancy of lighter-than-air system 1400 is achieved (e.g.,lighter-than-air system 1400 hovers over landing surface). This isconsidered advantageous at least because it prevents, or substantiallyprevents, lighter-than-air system 1400 from contacting the landingsurface and becoming damaged.

Optionally, anchor 2018 can be released from lighter-than-air system1400 upon first valve 1510 being moved to its open configuration. Thisis considered advantageous at least because it provides a mechanism forpreventing, or substantially preventing, damage to lighter-than-airsystem 1400 upon descent. Optionally, if descent of lighter-than-airsystem 1400 is activated due to the lighter-than-air system 1400 notreceiving a signal from a user and/or ground control software, asdescribed herein, first servo 1518 and servo 2004 can be activatedseparately, or together, such that first valve 1510 is moved to its openconfiguration and/or anchor 2018 descends from instrument case 1900.

As described herein, any of the servos and/or valves can be activated bya user, ground control software, and/or on-board software.

FIG. 26 illustrates another exemplary lighter-than-air system 2100,which is similar to lighter-than-air system 1400, except as described.In the illustrated embodiment, lighter-than-air system 2100 includes aframe 2102, connecting member 2104, and a tether 2106.

Frame 2102 comprises a first support member 2108, second support member2110, third support member 2112, and a ring member 2114. Each of thefirst support member 2108, second support member 2110, and third supportmember 2112 has a first end 2116 attached to thruster 1500 and a secondend 2118 attached to ring member 2114. Ring member 2114 defines an outerdiameter that is less than the inflated diameter of first balloon 1440.Each support member 2108, 2110, 2112 defines a curve along its lengthbetween its first end 2116 and second end 2118 such that frame 2102 isconfigured to contain airship 1402 when it is in the inflatedconfiguration.

While the first end 2116 of each support member 2108, 2110, and 2112 hasbeen illustrated and described as attached to thruster 1500, the firstend of a support member can be attached to any suitable portion of alighter-than-air system using any suitable method of attachment. Skilledartisans will be able to select a suitable portion of a lighter-than-airsystem to attach the first end of a support member and a suitable methodof attachment according to a particular embodiment based on variousconsiderations, including the materials forming the lighter-than-airsystem. Example portions of a lighter-than-air system consideredsuitable to attach the first end of a support member include, but arenot limited to, airship 1400, thruster 1500, airfoil module 1700, thrustmodule 1800, instrument case 1900, and any other portion of alighter-than-air system considered suitable for a particularapplication. Example methods of attachment considered suitable between asupport member and a portion of a lighter-than-air system include, butare not limited to, releasable attachments (e.g., friction fit, snapfit), fixed attachments (e.g., adhesive), and any other method ofattachment considered suitable for a particular application.

While frame 2102 has been illustrated and described as comprising afirst support member 2108, second support member 2110, third supportmember 2112, and a ring member 2114, a frame can have any suitablestructural arrangement. Skilled artisans will be able to select asuitable structural arrangement for a frame according to a particularembodiment based on various considerations, including the structuralconfiguration of an airship. For example, a frame can include a firstsupport member, a second support member, and a third support member andomit the inclusion of a ring member. In addition, a frame can includeany suitable number of support members and/or ring members. Examplenumber of support members and/or ring members considered suitable toinclude with a frame include, but are not limited to, one, at least one,two, a plurality, three, four, five, six, and any other numberconsidered suitable for a particular application.

Connecting member 2104 can comprise any suitable structure capable ofproviding a movable attachment between frame 2102 and tether 2106, andskilled artisans will be able to select a suitable structure accordingto a particular embodiment based on various considerations, includingthe material forming the frame. Example structures considered suitableinclude, but are not limited to, structures that define an aperturethrough which a portion of a support member is disposed, ring members,and any other structure considered suitable for a particularapplication.

In the illustrated embodiment, connecting member 2104 is a ring member2105 disposed about first support member 2108.

Frame 2102 and connecting member 2104 can be formed using any suitablemethod of manufacture and using any suitable material, and skilledartisans will be able to select a suitable method of manufacture andmaterial for a frame and/or connecting member according to a particularembodiment based on various considerations, including the materialforming an airship. Example materials considered suitable include,metals, polymers, and any other material considered suitable for aparticular application.

Tether 2106 has a tether first end 2120 attached to ring member 2105 anda tether second end 2122 attached to a ground retrieval device 2124.

The inclusion of frame 2102, connecting member 2104, and tether 2106 isconsidered advantageous at least because movement of connecting member2104 along the length of first support member 2108 provides a mechanismfor countering horizontal forces that may be applied on lighter-than-airsystem 1400 during flight, which allows instrument case 1900 to bepositioned plumb, or substantially plumb, with the surface.

FIG. 27 illustrates another exemplary lighter-than-air system 2200,which is similar to lighter-than-air system 2100, except as described.In the illustrated embodiment, lighter-than-air system 2200 includes aframe 2202, omits the inclusion of a connecting member (e.g., connectingmember 2104) and tether (e.g., tether 2106), and includes a parachute2230. With respect to frame 2202, reference numbers in FIG. 22 refer tothe same structural element or feature referenced by the same number inFIG. 21, offset by 100. Thus, frame 2202 comprises a first supportmember 2208, second support member 2210, third support member 2212, anda ring member 2214.

In the illustrated embodiment of FIGS. 26 and 27, ring member 2214defines an outer diameter that is equal to, substantially equal to, orgreater than, than the inflated diameter of first balloon 1440.Parachute 2230 is attached to ring member 2214 and covers the entirety,or a portion of, the upper hemisphere of first balloon 1440. Parachute2230 comprises a material 2232 and a ring member 2234 disposed at theapex of the parachute 2230 when first balloon 1440 is in the inflatedconfiguration. Parachute 2230 is configured to fill with fluid (e.g.,air) when first balloon 1440 and/or second balloon 1450 are moved to adeflated configuration and decreases the rate at which lighter-than-airsystem 1400 descends relative to systems that do not include aparachute.

Parachute 2230 can be formed of any suitable material and have anysuitable structural arrangement, and skilled artisans will be able toselect a suitable material to form a parachute and suitable structuralarrangement for a parachute according to a particular embodiment basedon various considerations, including the total weight of alighter-than-air system.

Optionally, the outer surface of parachute 2230 can be composed of, orinclude, photovoltaic materials that are operatively connected to one ormore devices housed within instrument case 1900 (e.g., energy storagedevices 280). This is considered advantageous to provide a mechanism forcharging the one or more devices housed within the instrument case(e.g., energy storage devices (e.g., 280), which enableslighter-than-air system 1400 to remain in flight for longer periods oftime relative to systems that do not include photovoltaic materials. Anysuitable photovoltaic material can be included on a parachute, andskilled artisans will be able to select a suitable photovoltaic materialaccording to a particular embodiment based on various considerations,including the material forming the parachute. Example photovoltaicmaterials considered suitable to compose a parachute, or to include on aparachute, include, but are not limited to, rigid photovoltaic modules,flexible photovoltaic modules, and any other material consideredsuitable for a particular application.

While parachute 2230 has been illustrated and described as attached toring member 2214, a parachute can be attached to any suitable portion ofa lighter-than-air system. Skilled artisans will be able to select asuitable portion of a lighter-than-air system to attach a parachuteaccording to a particular embodiment based on various considerations,including the desired amount of drag intended to be provided by theparachute during descent. For example, a parachute can be attached toone or more of a ring member, support member, airship, thruster, airfoilmodule, thruster module, instrument case, and any other portion of alighter-than-air system considered suitable for a particularapplication.

FIG. 28 is another exemplary method 2300 of obtaining one or more aerialimages using a lighter-than-air system (e.g., system 100, system 800,system 900, system 1100, system 1400, system 2100, system 2200). Whilemethod 2300 is described as being accomplished using lighter-than-airsystem 2200, the steps, alternative steps, and optional steps describedherein can be accomplished using any suitable lighter-than-air system.

A step 2302 comprises hanging the lighter-than-air system in an elevatedposition. Another step 2304 comprises releasing the anchor such thatanchor is contacting the surface below the lighter-than-air system andslack is provided in wire member between anchor and the instrument case.Another step 2306 comprises opening the first valve such that the secondballoon chamber can be emptied, or substantially emptied. Another step2308 comprises introducing fluid into the first balloon chamber untilwire member becomes taut, or substantially taut. Another step 2310comprises introducing fluid into the second balloon chamber until theanchor is elevated above the surface below the lighter-than-air system.Another step 2312 comprises checking controls of the lighter-than-airsystem. Another step 2314 comprises launching the lighter-than-airsystem.

Step 2302 can be accomplished by hanging the lighter-than-air system byring member 2234 such that it is disposed in an elevated position andfree of contact from a surface disposed below the lighter-than-airsystem.

Step 2304 can be accomplished by activating servo 2004 such that anchor2018 descends from instrument case 1900 and contacts the surface belowthe lighter-than-air system 2200.

Step 2306 can be accomplished by moving first servo 1518 to its secondposition such that any fluid disposed within second balloon chamber 1454can be released to the environment exterior to the second balloonchamber 1454.

Step 2308 can be accomplished by passing fluid through second valve 1512and/or fourth valve 1516 and into first balloon chamber 1444.

Step 2310 can be accomplished by passing a fluid through first valve1510 and into second balloon chamber 1454.

In addition, or alternative, to accomplishing step 2304, step 2306, step2308, and/or step 2310, an optional step that can be accomplishedsubsequent to completing step 2308 and step 2310 and achieving neutralbuoyancy of the lighter-than-air system comprises adding a weight havinga known value (e.g., 20 grams) to a portion of the lighter-than-airsystem (e.g., instrument case). Another optional step comprises addingfluid to the chamber defined by the first balloon and/or second balloonuntil neutral buoyancy of the lighter-than-air system is achieved.Another optional step comprises removing the weight from thelighter-than-air system. These steps are considered advantageous atleast because they provide a mechanism for determining the lift forceapplied to the lighter-than-air system during ascent. Another optionalstep comprises completing a timed opening of a valve in communicationwith the chamber defined by the first balloon and/or second balloon whena desired altitude has been reached such that the amount of fluidreleased from the chamber is equal to, or substantially equal to, theamount of fluid introduced into the chamber to offset the weight. Eachof these steps can be accomplished by a user, ground control software,and/or on-board software.

Step 2312 can be accomplished by a user interacting with ground controlsoftware and/or on-board software to review one or more oflighter-than-air system's 2200 components and its functionality. Forexample, a user can activate one or more servos or other components todetermine if they are functioning as desired.

Step 2314 can be accomplished by removing ring member 2234 from itselevated position.

An optional step comprises attaching a tether to the system such thattethered flight can be achieved. This can be accomplished by attachingtether to frame 2202, or other portion of lighter-than-air system 1400.Another optional step comprises releasing a portion of the length of thetether such that a desired altitude and/or position can be accomplished.Launching the lighter-than-air system using a tether is consideredadvantageous at least because it provides a mechanism for trimming thesystem during ascent without deflating the first balloon or secondballoon, releasing any material stored within container chamber, orwithout the need for using a thruster. Another optional step comprisesreleasing the tether such that the lighter-than-air system can completea tether free flight.

While various steps, alternative steps, and optional steps have beendescribed above with respect to obtaining aerial images, these steps,alternative steps, and optional steps can be included in, accomplishedconcurrently with, and/or accomplished in the alternative to, themethodologies, steps, alternative steps, and/or optional steps describedabove with respect to method 450 and/or method 600.

Any of the herein described elements and/or components can be providedin a kit. For example, a kit can comprise any suitable airship accordingto an embodiment, such as airship 102, airship 802, airship 902, airship1102, and/or airship 1402; one or more first balloons 1440, and/or oneor more second balloons 1450; an instrument case according to anembodiment, such as instrument case 200, instrument case 890, instrumentcase 990, instrument case 1190, and/or instrument case 1900; a thrusteraccording to an embodiment, such as thruster 700, thruster 870, thruster970, thruster 1200, thruster 1300, and/or thruster 1500; a valveaccording to an embodiment, such as valve 144 (e.g., bi-directionalvalve), valve 146 (e.g., one way flow valve), valve 340, valve 362,first valve 1510, second valve 1512, third valve 1514, and/or fourthvalve 1516; a container according to an embodiment, such as container1508; one or more lengths of tether; one or more ground retrievaldevices, such as ground retrieval device 862, ground retrieval device962, ground retrieval device 1194, and/or ground retrieval device 2124;an anchor, such as anchor 1195, and/or anchor 2018; one or more modules,such as airfoil module 1700, thrust module 1800, and/or anchor module2000; one or more sheets that acts as sails, such as sheets 908; one ormore frames according to an embodiment, such as frame 2102, and/or frame2202; one or more connecting members, such as connecting member 2104,and/or connecting member 2105; one or more parachutes, such as parachute2230; a pair of cloth gloves; and/or instructions for use. One or moreof the above described devices, elements, and/or components, and/or anyof the herein described devices, elements, and/or components can beprovided in a kit.

Any of the systems described herein can optionally include one or moredevices for providing deflation and/or detachment of one or more of theballoons. For example, a servo that comprises a blade, pin, or otherobject can be activated to puncture the wall of one or more balloons todeflate the balloon can be attached to a portion of any balloon and bein communication with one or more of the devices within the instrumentcase. Upon receipt of a signal, the servo can be activated to puncturethe wall of a balloon to cause deflation. Alternatively, a user candeflate the balloon using a source from the ground (e.g., air rifle).

In a further alternative, should retrieval of a lighter-than-air systembe desired, a tether having one end attached to a balloon separate fromthe lighter-than-air system and another end attached to a retrievaldevice can be utilized to retrieve the lighter-than-air system. In thisalternative, the balloon and/or tether comprise one or more magnetsattached to a portion thereof and the lighter-than-air system comprisesone or more magnets attached to a portion thereof. To retrieve thesystem the separate balloon/tether are launched at, or near, thecoordinates of the lighter-than-air system desired to be retrieved, andthe one or more magnets attached to a portion thereof attaches to one ormore of the one or more magnets attached to a portion of thelighter-than-air system, thereby allowing for the retrieval device.

The use of an ascent tether attached to a portion of thelighter-than-air system (e.g., retrieval connector 108, a portion of theinstrument case) by a mechanical fastener having a first closed positionand a second open position can be used during ascent of the system. Whena desired altitude is reached, the mechanical fastener, which is incommunication with one or more devices within the instrument case, ismoved from the first closed position to the second open position torelease the lighter-than-air system from the tether. In a furtherexample, the instrument case can be attached to the system using amechanical fastener having a first closed position and a second openposition. The instrument case can be attached to the airship by a lengthof tether. When desired, the mechanical fastener, which is incommunication with one or more devices within the instrument case, ismoved from the first closed position to the second open position torelease the instrument case from attachment to the airship and allowsfor the instrument case to be suspended below the airship the length ofthe tether. This advantageously adds stability to the landing processand allows for an easier target to grasp and guide the landing of thesystem.

The forgoing detailed description provides exemplary embodiments of theinvention and includes the best mode for practicing the invention. Thedescription and illustration of these embodiments is intended only toprovide examples of the invention, and not to limit the scope of theinvention, or its protection, in any manner.

What is claimed is:
 1. A method for acquiring one or more aerial imagesusing at least one lighter-than-air system and ground control software,the ground control software stored on a computer readable medium, themethod comprising the steps of: determining a location to obtain one ormore aerial images to be acquired by a first lighter-than-air system,the first lighter-than-air system comprising: an airship comprising afirst balloon and a second balloon, the first balloon having a walldefining a first balloon chamber, the first balloon moveable between adeflated configuration and an inflated configuration, the second balloondisposed within the first balloon chamber and having a wall defining asecond balloon chamber, the second balloon moveable between a deflatedconfiguration and an inflated configuration; an instrument case attachedto the airship; a communication device stored within the instrumentcase, the communication device in communication with a network; and anobservation device stored within the instrument case, the observationdevice capable of obtaining the one or more aerial images; inputting thedetermined location into said ground control software; introducing afirst volume of fluid into the first balloon chamber; introducing asecond volume of fluid into the second balloon chamber; and launchingthe first lighter-than-air system.
 2. The method of claim 1, whereinsaid ground control software is configured to calculate data relating tothe first volume of fluid to introduce into the first balloon chamber,and data relating to the second volume of fluid to introduce into thesecond balloon chamber.
 3. The method of claim 1, wherein the airshipfurther comprises a valve in communication with the second balloonchamber and the communication device, the valve configured to have afirst configuration and a second configuration, in the firstconfiguration the valve holds fluid within the second balloon chamber,in the second configuration the valve releases fluid held within thesecond balloon chamber.
 4. The method of claim 3, further comprising thestep of moving the valve between the first configuration and the secondconfiguration via a signal received from the communication device. 5.The method of claim 1, wherein the first lighter-than-air system furthercomprises a sensing device capable of detecting atmospheric pressureconditions, the sensing device in communication with the communicationdevice.
 6. The method of claim 5, further comprising the step ofreleasing a portion of the fluid contained within the second balloonchamber based on data received from the sensing device.
 7. The method ofclaim 1, further comprising the step of obtaining the one or more aerialimages using the observation device.
 8. The method of claim 7, whereinthe observation device is in communication with the communicationdevice; said method further comprising the step of transmitting the oneor more aerial images to the network.
 9. The method of claim 1, furthercomprising the step of launching a second lighter-than-air system, thesecond lighter-than-air system comprising a second communication device,the second lighter-than-air system in communication with said groundcontrol software, the second communication device capable oftransmitting information to said ground control software and receivinginformation from said ground control software.
 10. The method of claim9, wherein the second lighter-than-air system is launched from a launchsite; and wherein the launch site is based on data received by the firstlighter-than-air system.
 11. A method for acquiring one or more aerialimages using at least one lighter-than-air system and ground controlsoftware, the ground control software stored on a computer readablemedium, the method comprising the steps of: determining a location toobtain one or more aerial images to be acquired by a firstlighter-than-air system, the first lighter-than-air system comprising:an airship comprising a first balloon and a second balloon, the firstballoon having a wall defining a first balloon chamber, the firstballoon moveable between a deflated configuration and an inflatedconfiguration, the second balloon disposed within the first balloonchamber and having a wall defining a second balloon chamber, the secondballoon moveable between a deflated configuration and an inflatedconfiguration; an instrument case attached to the airship; acommunication device stored within the instrument case, thecommunication device in communication with a network; an observationdevice stored within the instrument case, the observation device capableof obtaining the one or more aerial images; and a valve in communicationwith the second balloon chamber and the communication device, the valveconfigured to have a first configuration and a second configuration, inthe first configuration the valve holds fluid within the second balloonchamber, in the second configuration the valve releases fluid heldwithin the second balloon chamber; inputting the determined locationinto said ground control software; introducing the first volume of fluidinto the first balloon chamber; introducing the second volume of fluidinto the second balloon chamber; and launching the firstlighter-than-air system.
 12. The method of claim 11, further comprisingthe step of moving the valve between the first configuration and thesecond configuration via a signal received from the communicationdevice.
 13. The method of claim 11, wherein said ground control softwareis configured to calculate data relating to the first volume of fluid tointroduce into the first balloon chamber, and data relating to thesecond volume of fluid to introduce into the second balloon chamber. 14.The method of claim 11, wherein the first lighter-than-air systemfurther comprises a sensing device capable of detecting atmosphericpressure conditions, the sensing device in communication with thecommunication device.
 15. The method of claim 14, further comprising thestep of releasing a portion of the fluid contained within the secondballoon chamber based on data received from the sensing device.
 16. Themethod of claim 11, further comprising the step of obtaining one or moreaerial images using the observation device.
 17. The method of claim 16,wherein the observation device is in communication with thecommunication device; said method further comprising the step oftransmitting the one or more aerial images to the network.
 18. Themethod of claim 11, further comprising the step of launching a secondlighter-than-air system, the second lighter-than-air system comprising asecond communication device, the second lighter-than-air system incommunication with said ground control software, the secondcommunication device capable of transmitting information to said groundcontrol software and receiving information from said ground controlsoftware.
 19. The method of claim 18, wherein the secondlighter-than-air system is launched from a launch site; and wherein thelaunch site is based on data received by the first lighter-than-airsystem.
 20. A method for acquiring one or more aerial images using atleast one lighter-than-air system and ground control software, theground control software stored on a computer readable medium, the methodcomprising the steps of: determining a location to obtain one or moreaerial images to be acquired by a first lighter-than-air system, thefirst lighter-than-air system comprising: an airship comprising a firstballoon and a second balloon, the first balloon having a wall defining afirst balloon chamber, the first balloon moveable between a deflatedconfiguration and an inflated configuration, the second balloon disposedwithin the first balloon chamber and having a wall defining a secondballoon chamber, the second balloon moveable between a deflatedconfiguration and an inflated configuration; an instrument case attachedto the airship; a communication device stored within the instrumentcase, the communication device in communication with a network; anobservation device stored within the instrument case, the observationdevice capable of obtaining the one or more aerial images; and a valvein communication with the second balloon chamber and the communicationdevice, the valve configured to have a first configuration and a secondconfiguration, in the first configuration the valve holds fluid withinthe second balloon chamber, in the second configuration the valvereleases fluid held within the second balloon chamber; inputting thedetermined location into said ground control software; introducing thefirst volume of fluid into the first balloon chamber; introducing thesecond volume of fluid into the second balloon chamber; launching thefirst lighter-than-air system; and moving the valve between the firstconfiguration and the second configuration via a signal received fromthe communication device.